#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import os

from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory


def generate_launch_description():
    pkg_share = get_package_share_directory("person_approach_skill")
    config_file = os.path.join(pkg_share, "config", "person_approach.yaml")

    person_approach_node = Node(
        package="person_approach_skill",
        executable="person_approach_node",
        name="person_approach_node",
        output="screen",
        parameters=[config_file],
    )

    return LaunchDescription([
        person_approach_node,
    ])