<launch>

  <arg name="gui" default="true" />

  <!-- use voxel_grid for small cpu load in filtering -->
  <include file="$(find pcl_ros)/samples/pcl_ros/filters/sample_voxel_grid.launch">
    <arg name="gui" value="false" />
    <arg name="test" value="false" />
    <arg name="leaf_size" value="0.02" />
  </include>

  <node name="extract_clusters"
        pkg="nodelet" type="nodelet"
        args="standalone pcl/EuclideanClusterExtraction">
    <remap from="~input" to="voxel_grid/output" />
    <rosparam>
      cluster_tolerance: 0.03
      spatial_locator: 1  # FLANN
    </rosparam>
  </node>

  <test test-name="test_extract_clusters"
    name="test_extract_clusters"
    pkg="rostest" type="hztest">
    <rosparam>
      topic: /extract_clusters/output
      hz: 3000
      hzerror: 2400
      test_duration: 5.0
    </rosparam>
  </test>

  <!-- TODO(wkentaro): Add sample visualization
  <group if="$(arg gui)">
    <node name="rviz"
          pkg="rviz" type="rviz"
          args="-d $(find pcl_ros)/samples/pcl_ros/segmentation/config/extract_clusters.rviz">
    </node>
  </group>
  -->

</launch>
