from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
    return LaunchDescription([
        Node(
            package='driver_pkg',
            executable='camera_node',
            name='camera_node',
            output='screen',
        ),
        Node(
            package='algorithm_pkg',
            executable='vision_node',
            name='vision_node',
            output='screen',
        ),
        Node(
            package='application_pkg',
            executable='web_node',
            name='web_node',
            output='screen',
        ),
        Node(
            package='gimbal_control_pkg',
            executable='gimbal_node',
            name='gimbal_node',
            output='screen',
            parameters=[{
                'serial_port': '/dev/ttyTHS1',
                'baud_rate': 921600,
            }],
        ),
    ])