<!-- -*- mode: XML -*- -->
<!-- rostest of reading Velodyne VLP16 PCAP data -->

<launch>

  <!-- start read with example PCAP file -->
  <node pkg="velodyne_driver" type="velodyne_node" name="velodyne_node">
    <param name="model" value="VLP16"/>
    <param name="pcap" value="$(find velodyne_driver)/tests/vlp16.pcap"/>
  </node>

  <test test-name="pcap_vlp16_node_hertz_test" pkg="rostest"
        type="hztest" name="hztest_packets_node_vlp16" >
    <param name="hz" value="10.0" />
    <param name="hzerror" value="3.0" />
    <param name="test_duration" value="5.0" />    
    <param name="topic" value="velodyne_packets" />  
    <param name="wait_time" value="2.0" />  
  </test>

  <test test-name="node_diagnostics_test"
        pkg="rostest" type="hztest" name="hztest_diag_node_vlp16">
    <param name="hz" value="1.0" />
    <param name="hzerror" value="0.5" />
    <param name="test_duration" value="5.0" />    
    <param name="topic" value="diagnostics" />  
    <param name="wait_time" value="2.0" />  
  </test>

</launch>