test.launch

<launch>
    <!-- -->
    <!-- barcode reader + drawer -->
    <node name="barcode_node" pkg="nodelet" type="nodelet" args="manager" output="screen"/>
    <!-- -->
    <!-- barcode reader loader -->
    <node name="barcode_reader_loader" pkg="nodelet" type="nodelet" 
          args="load barcode_reader/BarcodeReader barcode_node" output="screen">
        <remap from="image_raw" to="image_raw"/>
        <remap from="image_out" to="barcode_image"/>
        <remap from="barcodes_out" to="barcode_data"/>
        <param name="scan_interval" value="0.5"/>
        <param name="republish_image" value="true"/>
    </node>
    <!-- -->
    <!-- barcode drawer loader -->
    <node name="barcode_drawer_loader" pkg="nodelet" type="nodelet" 
          args="load object_drawer/ObjectDrawer barcode_node" output="screen">
        <remap from="image_raw" to="barcode_image"/>
        <remap from="objects_in" to="barcode_data"/>
        <remap from="image_out" to="annotated_image"/>
    </node>
    <!-- -->
    <!-- detection result viewer -->
    <node name="barcode_view" pkg="image_view" type="image_view" output="screen">
        <remap from="image" to="annotated_image"/>
    </node>
</launch>