################################################################################
#                                                                              #
#  Launch file meant to be used on the robot itself                            #
#      uses:                                                                   #
#         * mg_bt         - runs the robot's behavior tree server              #
#                                                                              #
################################################################################

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


def generate_launch_description():

    basedir = FindPackageShare("mg_bt")

    bt_exec_config = PathJoinSubstitution([basedir, "config/mg_bt_executor.yaml"])

    return LaunchDescription([
        Node(
            package='mg_bt',
            executable='mg_bt_executor',
            output="screen",
            parameters=[bt_exec_config]
        ),
    ])