import launch
import launch_ros.actions

def generate_launch_description():
    publisher_node = launch_ros.actions.Node(
            package='j7s_simple',
            executable='j7s_publisher',
            name='j7s_publisher',
            parameters=[{
                "message":"Hello"
            }]
        )
    parrot_node = launch_ros.actions.Node(
            package='j7s_simple',
            executable='j7s_parrot',
            name='j7s_parrot_1',
            parameters=[{
                "name":"Polly"
            }],
            remappings=[
                ("~/parrot_in", "/j7s_publisher/main_out")
            ]
        )
    return launch.LaunchDescription([
        publisher_node,
        parrot_node
     ])