import os
 
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
 
 
def generate_launch_description():
 
    map_file = os.path.join(get_package_share_directory('map_server'),
        'config',
        'turtlebot_area.yaml')

    nav2_amcl = os.path.join(
        get_package_share_directory('localization_server'),
        'config',
        'amcl_config.yaml'
    )
 
    nav2_yaml = 'amcl_config.yaml'
 
    return LaunchDescription([
        Node(
            package='nav2_map_server',
            executable='map_server',
            name='map_server',
            output='screen',
            parameters=[{'use_sim_time': True}, 
                        {'yaml_filename':map_file} ],
        ),
        Node(
            package='nav2_amcl',
            executable='amcl',
            name='amcl',
            output='screen',
            parameters=[nav2_yaml],
        ),
        Node(
            package='nav2_lifecycle_manager',
            executable='lifecycle_manager',
            name='lifecycle_manager_localization',
            output='screen',
            parameters=[{'use_sim_time': True},
                        {'autostart': True},
                        {'node_names': ['map_server','amcl']}],
        )
    ])