import os
from pathlib import Path

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


def generate_launch_description():
    slam_params = os.path.join(
        str(Path(__file__).absolute().parent.parent), # <-- Replace with your package name
        'config',
        'slam.yml'
        )
    
    slam_toolbox = IncludeLaunchDescription(
                PythonLaunchDescriptionSource([os.path.join(
                    get_package_share_directory('slam_toolbox'),'launch','online_async_launch.py'
                )]), 
                launch_arguments={
                    'use_sim_time': 'true', 
                    'slam_params_file': slam_params}.items()
    )

    return LaunchDescription([
        slam_toolbox
    ])