#
# Copyright (c) Contributors to the Open 3D Engine Project.
# For complete copyright and license terms please see the LICENSE at the root of this distribution.
#
# SPDX-License-Identifier: Apache-2.0 OR MIT
#


import pathlib

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node


def generate_launch_description():
    return LaunchDescription([
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([str(pathlib.Path(
                get_package_share_directory('slam_toolbox')).joinpath(
                    'launch',
                    'online_async_launch.py'))]),
            launch_arguments={
                'slam_params_file': str(pathlib.Path(__file__).parent.absolute().joinpath(
                    'config',
                    'slam_params.yaml'))
            }.items()
        ),
        Node(
            package='pointcloud_to_laserscan',
            executable='pointcloud_to_laserscan_node',
            name='pc_to_laserscan',
            parameters=[{
                'min_height': 0.0,
                'max_height': 0.5,
                'range_min': 0.1
            }],
            remappings=[
                ('/cloud_in', '/pc'),
            ]
        )
    ])