#!/usr/bin/env python3
from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():
    pkg_dir = get_package_share_directory("saltybot_audio_pipeline")
    config_path = os.path.join(pkg_dir, "config", "audio_pipeline_params.yaml")
    return LaunchDescription([
        Node(
            package="saltybot_audio_pipeline",
            executable="audio_pipeline_node",
            name="audio_pipeline_node",
            parameters=[config_path],
            output="screen",
            emulate_tty=True,
        ),
    ])
