from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
    return LaunchDescription([
        DeclareLaunchArgument('output_namespace', default_value='/viz'),
        Node(
            package='ros_viz_adapter', executable='adapter',
            name='ros_viz_adapter', output='screen',
            parameters=[{
                'output_namespace': LaunchConfiguration('output_namespace'),
            }],
        ),
    ])