from launch import LaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

from pathlib import Path

def generate_launch_description():

    basedir = FindPackageShare("mg_lidar")

    lidar_config = PathJoinSubstitution([basedir, "config/lidar.yaml"])

    return LaunchDescription([
        Node(
            package='mg_lidar',
            executable='mg_scanner',
            output="screen",
            parameters=[lidar_config]
        ),
        Node(
            package='rplidar_ros',
            executable='rplidar_composition',
            output="screen",
            parameters=[lidar_config]
        ),
    ])