<launch>
  <!-- If you want to update at the arbitrary point of the time, please type following command. Sample programs are in scripts folder.
       rosservice call /sample_topic_buffer_server/update "/chatter"
  -->
  <arg name="USE_FIXED_RATE" default="false" />
  <arg name="USE_UPDATE_RATE" default="false" />

  <node pkg="roscpp_tutorials" type="listener" name="listener"
	output="screen">
    <remap from="chatter" to="chatter_buffered"/>
  </node>


  <node pkg="jsk_topic_tools" type="topic_buffer_client" name="sample_topic_buffer_client"
	output="screen">
    <remap from="/list" to="/sample_topic_buffer_server/list"/>
    <remap from="/update" to="/sample_topic_buffer_server/update"/>
    <param name="update_rate" value="1" if="$(arg USE_UPDATE_RATE)"  />
    <param name="fixed_rate" value="0.1" if="$(arg USE_FIXED_RATE)"/>
  </node>


</launch>
