#!/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.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.actions import RegisterEventHandler, EmitEvent
from launch.event_handlers import OnProcessExit
from launch.events import Shutdown


def generate_launch_description():
    # rviz2 node
    rviz2_params = PathJoinSubstitution([FindPackageShare('xarm_description'), 'rviz', 'display.rviz'])
    rviz2_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        arguments=['-d', rviz2_params],
        remappings=[
            ('/tf', 'tf'),
            ('/tf_static', 'tf_static'),
        ]
    )
    
    return LaunchDescription([
        RegisterEventHandler(event_handler=OnProcessExit(
            target_action=rviz2_node,
            on_exit=[EmitEvent(event=Shutdown())]
        )),
        rviz2_node,
    ])