# Copyright 2025 Reazon Holdings, 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.

from pathlib import Path

import launch
from launch.substitutions import Command
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument

import launch_ros
from launch_ros.parameter_descriptions import ParameterValue


def generate_launch_description():
    pkg_share = Path(
        launch_ros.substitutions.FindPackageShare(package="openarm_bimanual_description").find(
            "openarm_bimanual_description"
        )
    )
    default_model_path = pkg_share / "urdf/openarm_bimanual.urdf.xacro"

    use_sim_time = LaunchConfiguration("use_sim_time")
    use_sim_time_launch_arg = DeclareLaunchArgument(
        "use_sim_time", default_value="true")

    robot_state_publisher_node = launch_ros.actions.Node(
        package="robot_state_publisher",
        executable="robot_state_publisher",
        parameters=[
            {
                # ParameterValue is required to avoid being interpreted as YAML.
                "robot_description": ParameterValue(
                    Command(["xacro ", LaunchConfiguration("model")]), value_type=str
                ),
                "use_sim_time": use_sim_time,
            },
        ],
    )

    return launch.LaunchDescription(
        [
            launch.actions.DeclareLaunchArgument(
                name="model",
                default_value=str(default_model_path),
                description="Absolute path to the robot's URDF file",
            ),
            use_sim_time_launch_arg,
            robot_state_publisher_node,
        ]
    )