from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration, Command, FindExecutable, PathJoinSubstitution
from launch.actions import DeclareLaunchArgument
from launch_ros.substitutions import FindPackageShare
from launch_ros.descriptions import ParameterValue
from launch_ros.actions import LifecycleNode

import os
from ament_index_python.packages import get_package_share_directory

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

    joy_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','joystick.yaml')
    namespace = "/rmp"
    joy_node = Node(
            package='joy',
            executable='joy_node',
            parameters=[joy_params, {'use_sim_time': use_sim_time}],
            namespace = namespace
         )

    teleop_node = Node(
            package='rmp220_teleop',
            executable='rmp220_teleop',
            name='rmp220_teleop',
            parameters=[joy_params, {'use_sim_time': use_sim_time}],
            remappings=[('/cmd_vel','cmd_vel_joy')],
            namespace = namespace
         )
    
    twist_mux_params = os.path.join(get_package_share_directory('cps_rmp220_support'),'config','twist_mux.yaml')
    twist_mux = Node(
            package="twist_mux",
            executable="twist_mux",
            parameters=[twist_mux_params, {'use_sim_time': False}],
            remappings=[('cmd_vel_joy','/rmp/cmd_vel_joy')],
            namespace = namespace
        )
    
    return LaunchDescription([
        DeclareLaunchArgument(
            'use_sim_time',
            default_value='false',
            description='Use sim time if true'),
        joy_node,
        teleop_node,
        twist_mux
    ])