import launch
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch_ros.actions import SetParameter, SetParametersFromFile
from launch.actions import GroupAction

def generate_launch_description():
    container = ComposableNodeContainer(
            name='my_container',
            namespace='',
            package='rclcpp_components',
            executable='component_container',
            composable_node_descriptions=[
                ComposableNode(
                    package='demo_nodes_cpp',
                    plugin='demo_nodes_cpp::ParameterBlackboard',
                    name='trial',
                    parameters=[{'param_1':5}]
                )
            ],
            output='screen',
    )

    return launch.LaunchDescription([
        GroupAction(
            actions = [
                #SetParametersFromFile('./eg.yaml'),
                #SetParametersFromFile('eg.yaml'),
                SetParametersFromFile('/home/aditya/Desktop/cmp_nodes/eg.yaml'),
                SetParameter(name='param_2', value=10),
                container
            ]
        )
    ])