#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2021, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
    prefix = LaunchConfiguration('prefix', default='')
    hw_ns = LaunchConfiguration('hw_ns', default='xarm')
    limited = LaunchConfiguration('limited', default=False)
    effort_control = LaunchConfiguration('effort_control', default=False)
    velocity_control = LaunchConfiguration('velocity_control', default=False)
    add_gripper = LaunchConfiguration('add_gripper', default=False)
    add_vacuum_gripper = LaunchConfiguration('add_vacuum_gripper', default=False)
    dof = LaunchConfiguration('dof', default=7)
    robot_type = LaunchConfiguration('robot_type', default='xarm')

    add_realsense_d435i = LaunchConfiguration('add_realsense_d435i', default=False)

    add_other_geometry = LaunchConfiguration('add_other_geometry', default=False)
    geometry_type = LaunchConfiguration('geometry_type', default='box')
    geometry_mass = LaunchConfiguration('geometry_mass', default=0.1)
    geometry_height = LaunchConfiguration('geometry_height', default=0.1)
    geometry_radius = LaunchConfiguration('geometry_radius', default=0.1)
    geometry_length = LaunchConfiguration('geometry_length', default=0.1)
    geometry_width = LaunchConfiguration('geometry_width', default=0.1)
    geometry_mesh_filename = LaunchConfiguration('geometry_mesh_filename', default='')
    geometry_mesh_origin_xyz = LaunchConfiguration('geometry_mesh_origin_xyz', default='"0 0 0"')
    geometry_mesh_origin_rpy = LaunchConfiguration('geometry_mesh_origin_rpy', default='"0 0 0"')
    geometry_mesh_tcp_xyz = LaunchConfiguration('geometry_mesh_tcp_xyz', default='"0 0 0"')
    geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')
    
    # robot joint state launch
    # xarm_description/launch/_robot_joint_state.launch.py
    robot_joint_state_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/_robot_joint_state.launch.py']),
        launch_arguments={
            'prefix': prefix,
            'hw_ns': hw_ns,
            'limited': limited,
            'effort_control': effort_control,
            'velocity_control': velocity_control,
            'add_gripper': add_gripper,
            'add_vacuum_gripper': add_vacuum_gripper,
            'dof': dof,
            'robot_type': robot_type,
            'add_realsense_d435i': add_realsense_d435i,
            'add_other_geometry': add_other_geometry,
            'geometry_type': geometry_type,
            'geometry_mass': geometry_mass,
            'geometry_height': geometry_height,
            'geometry_radius': geometry_radius,
            'geometry_length': geometry_length,
            'geometry_width': geometry_width,
            'geometry_mesh_filename': geometry_mesh_filename,
            'geometry_mesh_origin_xyz': geometry_mesh_origin_xyz,
            'geometry_mesh_origin_rpy': geometry_mesh_origin_rpy,
            'geometry_mesh_tcp_xyz': geometry_mesh_tcp_xyz,
            'geometry_mesh_tcp_rpy': geometry_mesh_tcp_rpy,
        }.items(),
    )

    # rviz2 display launch
    # xarm_description/launch/_rviz_display.launch.py
    rviz2_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/_rviz_display.launch.py']),
    )
    
    return LaunchDescription([
        robot_joint_state_launch,
        rviz2_launch
    ])