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


def generate_launch_description():
    rviz_config = get_package_share_directory('hesai_ros_driver') + '/rviz/rviz2.rviz'
    return LaunchDescription([
        Node(
            package='hesai_ros_driver',
            node_namespace='hesai_ros_driver',
            node_name='hesai_ros_driver_node',
            node_executable='hesai_ros_driver_node',
            output='screen'
        ),
        Node(
            package='rviz2',
            node_namespace='rviz2',
            node_name='rviz2',
            node_executable='rviz2',
            arguments=['-d', rviz_config]
        )
    ])