from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, RegisterEventHandler, TimerAction
from launch.event_handlers import OnProcessStart
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

from pathlib import Path

def generate_launch_description():

    basedir = FindPackageShare("mg_bt")

    yamlBT = PathJoinSubstitution([basedir, "config/mg_bt_executor_config.yaml"])

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