sample_pointcloud_screenpoint.launch

<launch>
  <arg name="gui" default="true"/>
  <arg name="publish_rate" default="1"/>

  <include file="$(find jsk_pcl_ros_utils)/sample/include/play_rosbag_shelf_bin.xml"/>
  <arg name="MANAGER" value="/right_hand_camera/right_hand_camera_nodelet_manager" />

  <node name="sample_point_publisher"
        pkg="rostopic" type="rostopic"
        args="pub -r $(arg publish_rate) -s /sample_point_publisher/output/screenpoint geometry_msgs/PointStamped
              '{header: {stamp: now, frame_id: right_hand_camera_rgb_optical_frame},
                point: {x: 100, y: 100, z: 0}}'"/>

  <node name="pointcloud_screenpoint"
        pkg="nodelet" type="nodelet"
        args="load jsk_pcl/PointcloudScreenpoint $(arg MANAGER)"
        respawn="true">
    <remap from="~points" to="/right_hand_camera/depth_registered/points"/>
    <remap from="~point" to="sample_point_publisher/output/screenpoint"/>
    <rosparam>
      queue_size: 100
      use_point: true
      publish_points: true
      publish_point: true
    </rosparam>
  </node>

  <node name="pointcloud_screenpoint_client"
        pkg="jsk_pcl_ros" type="pointcloud_screenpoint.l"
        respawn="true">
    <remap from="ray_marker_array" to="~output/ray_marker_array"/>
    <remap from="image_marker" to="~output/image_marker"/>
    <remap from="ray_coords" to="~output/ray_coords"/>
    <rosparam>
      sensor_topic: sample_point_publisher/output
      ray_srv: pointcloud_screenpoint/screen_to_point
      base_frame: right_hand_camera_rgb_optical_frame
    </rosparam>
  </node>

  <group if="$(arg gui)">
    <node name="rviz"
          pkg="rviz" type="rviz"
          args="-d $(find jsk_pcl_ros)/sample/pointcloud_screenpoint.rviz"/>
  </group>
</launch>