from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
    return LaunchDescription([
        Node(
            package='openarm_joint_recorder',
            executable='joint_trajectory_recorder',
            name='joint_trajectory_recorder',
            output='screen',
            parameters=[{
                'input_topic': '/left_joint_trajectory_controller/controller_state',
                'output_topic': '/left_joint_trajectory_controller/joint_trajectory',
                'play_speed': 1.0,
                'loop_playback': False,
                'storage_path': '/home/shen/openarm_test/openarm_joint_record.yaml',
            }],
        ),
    ])
