#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import os

from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory



def generate_launch_description():
    package_share_dir = get_package_share_directory('harvest_arm_rm')

    config_file = os.path.join(package_share_dir, 'config', 'config.yaml')

    return LaunchDescription([
        Node(
            package="harvest_arm_rm",
            executable="realman_run",
            name="harvest_arm_rm",
            output="screen",
            parameters=[config_file],
        )
    ])