"""Launch file for LIDAR avoidance node."""

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument
import os
from ament_index_python.packages import get_package_share_directory


def generate_launch_description():
    """Generate launch description for LIDAR avoidance."""
    pkg_dir = get_package_share_directory("saltybot_lidar_avoidance")
    config_file = os.path.join(
        pkg_dir, "config", "lidar_avoidance_params.yaml"
    )

    return LaunchDescription(
        [
            DeclareLaunchArgument(
                "config_file",
                default_value=config_file,
                description="Path to configuration YAML file",
            ),
            Node(
                package="saltybot_lidar_avoidance",
                executable="lidar_avoidance_node",
                name="lidar_avoidance",
                output="screen",
                parameters=[LaunchConfiguration("config_file")],
            ),
        ]
    )
