# Copyright (c) 2021 PickNik, Inc.
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#
# Author: Denis Stogl
#
# Description: After a robot has been loaded, this will execute a series of trajectories.

from launch import LaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():

    position_goals = PathJoinSubstitution(
        [FindPackageShare("ur_robot_driver"), "config", "test_goal_publishers_config.yaml"]
    )

    return LaunchDescription(
        [
            Node(
                package="ros2_controllers_test_nodes",
                executable="publisher_joint_trajectory_controller",
                name="publisher_scaled_joint_trajectory_controller",
                parameters=[position_goals],
                output="screen",
            )
        ]
    )