<?xml version="1.0"?>
<launch>
  <arg name="face_cascade_name_0"  default="$(find face_detection)/include/face_detection/HaarCascades/haarcascade_frontalface_alt.xml" />
  <arg name="face_cascade_name_1"  default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_alt2.xml" />
  <arg name="face_cascade_name_2"  default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_alt_tree.xml" />
  <arg name="face_cascade_name_3"  default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_default.xml" />
  <arg name="face_cascade_name_4"  default="$(find face_detection)/include/face_detection/lbpCascades/lbpcascade_frontalface.xml" />

  <node pkg="face_detection" type="face_tracking" name="face_tracking"
      args="$(arg face_cascade_name_0)
      $(arg face_cascade_name_1)
      $(arg face_cascade_name_2)
      $(arg face_cascade_name_3)
      $(arg face_cascade_name_4)"
      output="screen">      
        <param name="imageInput" type="string" value="/usb_cam_node/image_raw" />
        <param name="displayed_Image" type="int" value="0" />
        <!-- <param name="publish" type="int" value="2" /> -->
        <param name="publish" type="int" value="3" />
  </node>
</launch>
