main_launch

# Copyright (c) 2018 Intel Corporation
#
# 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 ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.conditions import IfCondition
from nav2_common.launch import RewrittenYaml
from launch.actions import ExecuteProcess




def generate_launch_description():
    # Get the launch directory
    bringup_dir = get_package_share_directory('nav2_bringup')
    launch_dir = os.path.join(bringup_dir, 'launch')
    params_dir = os.path.join(bringup_dir, "params")

    nav2_params = os.path.join(params_dir, "real_truck_nav2_params.yaml")
    configured_params = RewrittenYaml(
        source_file=nav2_params, root_key="", param_rewrites="", convert_types=True
    )

        # Keep truck static by publishing to /cmd_vel in a loop
    keep_truck_static_cmd = ExecuteProcess(
        cmd=['bash', '-c', "while true; do ros2 topic pub /cmd_vel geometry_msgs/msg/Twist '{linear: {x: -0.8, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}' -1; sleep 0.1; done"],
        output='screen'
    )


    use_rviz = LaunchConfiguration('use_rviz')
    use_mapviz = LaunchConfiguration('use_mapviz')

    declare_use_rviz_cmd = DeclareLaunchArgument(
        'use_rviz',
        default_value='False',
        description='Whether to start RVIZ')

    declare_use_mapviz_cmd = DeclareLaunchArgument(
        'use_mapviz',
        default_value='False',
        description='Whether to start mapviz')

    robot_localization_cmd = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_dir, 'real_bot_dual_ekf_navsat.launch.py'))
    )

    navigation2_cmd = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(bringup_dir, "launch", "real_navigation_launch.py")
        ),
        launch_arguments={
            "use_sim_time": "True",
            "params_file": configured_params,
            "autostart": "True",
        }.items(),
    )

    rviz_cmd = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(bringup_dir, "launch", 'rviz_launch.py')),
        condition=IfCondition(use_rviz)
    )

    mapviz_cmd = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_dir, 'mapviz.launch.py')),
        #condition=IfCondition(use_mapviz)
    )

    robot_cmd = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_dir, 'real_truck_environment_launch.py'))
    )


    # Create the launch description and populate
    ld = LaunchDescription()

    # robot launch
    ld.add_action(robot_cmd)

    # robot localization launch
    ld.add_action(robot_localization_cmd)

    # navigation2 launch
    ld.add_action(navigation2_cmd)

    # viz launch
    ld.add_action(declare_use_rviz_cmd)
    ld.add_action(rviz_cmd)
    #ld.add_action(declare_use_mapviz_cmd)
    #ld.add_action(mapviz_cmd)

    #Uncomment when the terrain does not move the truck backwards (plane terrains don't need it)
    #ld.add_action(keep_truck_static_cmd) #FAKE BRAKE


    return ld