text: # Copyright 2021 Open Source Robotics Foundation, Inc.
  #
  # Licensed under the Apache License, Version 2.0 (the "License");
  # you may not use this file except in compliance with the License.
  # You may obtain a copy of the License at
  #
  #     http://www.apache.org/licenses/LICENSE-2.0
  #
  # Unless required by applicable law or agreed to in writing, software
  # distributed under the License is distributed on an "AS IS" BASIS,
  # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  # See the License for the specific language governing permissions and
  # limitations under the License.
  
  import os
  
  from ament_index_python.packages import get_package_share_directory
  
  from launch import LaunchDescription
  from launch.actions import IncludeLaunchDescription
  from launch.launch_description_sources import PythonLaunchDescriptionSource
  
  from launch_ros.actions import Node
  
  
  def generate_launch_description():
      demo_nodes = IncludeLaunchDescription(
          PythonLaunchDescriptionSource([os.path.join(
              get_package_share_directory('turtle_tf2_cpp'), 'launch'),
              '/turtle_tf2_demo.launch.py']),
          launch_arguments={'target_frame': 'carrot1'}.items(),
          )
  
      return LaunchDescription([
          demo_nodes,
          Node(
              package='turtle_tf2_cpp',
              executable='fixed_frame_tf2_broadcaster',
              name='fixed_broadcaster',
          ),
      ])
  