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():
    pkg_dir = get_package_share_directory("saltybot_wheel_slip_detector")
    config_file = os.path.join(pkg_dir, "config", "wheel_slip_config.yaml")
    return LaunchDescription([
        DeclareLaunchArgument("config_file", default_value=config_file, description="Path to configuration YAML file"),
        Node(package="saltybot_wheel_slip_detector", executable="wheel_slip_detector_node", name="wheel_slip_detector", output="screen", parameters=[LaunchConfiguration("config_file")]),
    ])
