import os.path

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
from launch.conditions import IfCondition

def generate_launch_description():

    ld = LaunchDescription()   

    rviz2 = Node(
        package='rviz2',
        executable='rviz2',
        arguments=['-d', f"{os.path.join(get_package_share_directory('sherpa'), 'config', 'sherpa.rviz')}"]
    )

    ld.add_action(rviz2)

    return ld