"""导航模拟节点启动文件"""

from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
    """生成 launch 描述"""

    nav_simulator_node = Node(
        package='nav_simulator',
        executable='nav_simulator_node',
        name='nav_simulator_node',
        output='screen',
        parameters=[{
            'map_mapping_file': '/home/sunrise/opt/dev/project/aiagent/brain/PlannerNode2/largemodel/config/map_mapping.yaml',
            'initial_x': 0.0,
            'initial_y': 0.0,
            'initial_z': 0.0,
            'initial_yaw': 0.0,
            'move_speed': 0.5,  # m/s
            'tf_publish_rate': 10.0,  # Hz
            'simulate_move': True,
        }],
        remappings=[],
    )

    return LaunchDescription([
        nav_simulator_node,
    ])
