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


package_name = "ut_b2"


def generate_launch_description():
    kstack_idl_params_path = os.path.join(
        get_package_share_directory("kstack_idl"), "params", "default.yaml"
    )
    # log format
    os.environ["RCUTILS_CONSOLE_OUTPUT_FORMAT"] = (
        "[{time}] [{name}] [{severity}] {message}"
    )

    return LaunchDescription(
        [
            Node(
                package=package_name,
                executable="b2_bridge_node",
                name="b2_bridge_node",
                output="screen",
                emulate_tty=True,
                parameters=[kstack_idl_params_path],
            )
        ]
    )