# Copyright 2022 Factor Robotics
#
# 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 launch import LaunchDescription
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directory
from launch_ros.actions import LifecycleNode
from launch_ros.descriptions import ParameterValue

from launch.substitutions import LaunchConfiguration, PythonExpression
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable

def generate_launch_description():
    namespace = LaunchConfiguration('namespace')
    use_sim_time = LaunchConfiguration('use_sim_time')

    declare_namespace_cmd = DeclareLaunchArgument(
        'namespace',
        default_value='',
        description='Top-level namespace')

    declare_use_sim_time_cmd = DeclareLaunchArgument(
        'use_sim_time',
        default_value='false',
        description='Use simulation (Gazebo) clock if true')

    twist_mux_params = os.path.join(get_package_share_directory('cps_loki_bringup'),'config','mux.yaml')
    twist_mux = Node(
            package="twist_mux",
            executable="twist_mux",
            parameters=[twist_mux_params, {'use_sim_time': use_sim_time}],
            remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
            namespace = namespace
        )

    joy_params = os.path.join(get_package_share_directory('cps_loki_bringup'),'config','joystick.yaml')
    joy_node = Node(
            package='joy',
            executable='joy_node',
            parameters=[joy_params, {'use_sim_time': use_sim_time}],
            namespace = namespace
         )
    
    teleop_node = Node(
            package='teleop_twist_joy',
            executable='teleop_node',
            name='teleop_node',
            parameters=[joy_params, {'use_sim_time': use_sim_time}],
            remappings=[('cmd_vel', 'cmd_vel_joy')],
            namespace = namespace
         )

    return LaunchDescription([
        twist_mux,
        joy_node,
        teleop_node
    ])