<launch>
    <arg name='enable_rosbag' default='False'/>
  <rosparam file="$(find carla_ros_bridge)/config/settings.yaml" command="load" />
  <param name="carla_autopilot" type="boolean" value="True" />
  <param name='enable_rosbag' type="boolean" value="False"/>
  <node pkg="carla_ros_bridge" name="carla_ros_bridge" type="client.py" output="screen"/>

  <test test-name="testTopics" pkg="rostest" type="publishtest" time-limit="20.0">
    <rosparam>
      topics:
        - name: /player_vehicle
          timeout: 20
          negative: False
        - name: /tf
          timeout: 20
          negative: False
        - name: /camera_front/image_raw
          timeout: 20
          negative: False
        - name: /camera_front/camera_info
          timeout: 20
          negative: False
        - name: /camera_depth/image_raw
          timeout: 20
          negative: False
        - name: /camera_depth/camera_info
          timeout: 20
          negative: False
        - name: /vehicles
          timeout: 20
          negative: False

    </rosparam>
  </test>



</launch>