fback_flow_nodelet.test

<launch>
  <arg name="gui" default="true" />
  <node name="play_vslam_bag"
        pkg="rosbag" type="play"
        args="-l $(find opencv_apps)/test/vslam_tutorial.bag -s 5 --topics /narrow_stereo/left/image_rect" />

  <group ns="narrow_stereo/left" >
    <arg name="MANAGER" default="fback_flow_manager" />
    <node name="$(arg MANAGER)"
          pkg="nodelet" type="nodelet"
          args="manager"
          output="screen"
          />

    <!-- fback_flow nodelet -->
    <node name="fback_flow"
          pkg="nodelet" type="nodelet"
          args="load fback_flow/fback_flow $(arg MANAGER)">
      <remap from="image" to="image_rect" />
      <param name="use_camera_info" value="false" />
      <param name="debug_view" value="false" />
    </node>

    <node name="fback_flow_saver" pkg="image_view" type="image_saver" args="image:=fback_flow/image" >
      <param name="filename_format" value="$(find opencv_apps)/test/fback_flow_nodelet.png"/>
    </node>
    <param name="fback_flow_test/topic" value="fback_flow/flows" />    <!-- opencv_apps/FlowArrayStamped -->
    <test test-name="fback_flow_test" pkg="rostest" type="hztest" name="fback_flow_test" >
      <param name="hz" value="15" />
      <param name="hzerror" value="14" />
      <param name="test_duration" value="5.0" />
    </test>

    <group if="$(arg gui)">
      <node name="image_view0"
            pkg="image_view" type="image_view">
        <remap from="image" to="image_rect" />
      </node>
      <node name="image_view1"
            pkg="image_view" type="image_view">
        <remap from="image" to="fback_flow/image" />
      </node>
    </group>
  </group>
</launch>