test.launch

<launch>
    <!-- -->
    <!-- detector -->
    <node name="object_detection_node" pkg="nodelet" type="nodelet" args="manager" output="screen"/>
    <!-- -->
    <!-- moving object detection -->
    <node name="object_detector_loader" pkg="nodelet" type="nodelet" 
          args="load moving_object_detector/MovingObjectDetector object_detection_node" output="screen">
        <remap from="image_raw" to="image_raw"/>
        <remap from="image_out" to="object_image"/>
        <remap from="objects_out" to="object_data"/>
        <param name="detection_algorithm" value="MOG"/>
        <param name="enumerate_objects" value="true"/>
        <param name="republish_image" value="true"/>
    </node>
    <!-- -->
    <!-- object drawing -->
    <node name="object_drawer_loader" pkg="nodelet" type="nodelet" 
          args="load object_drawer/ObjectDrawer object_detection_node" output="screen">
        <remap from="image_raw" to="object_image"/>
        <remap from="objects_in" to="object_data"/>
        <remap from="image_out" to="annotated_image"/>
    </node>
    <!-- -->
    <!-- viewer -->
    <node name="object_viewer" pkg="nodelet" type="nodelet" 
            args="standalone image_view/image" output="screen">
        <remap from="image" to="annotated_image"/>
    </node>
</launch>