from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import (
    PathJoinSubstitution,
    LaunchConfiguration,
    TextSubstitution,
)
from launch_ros.substitutions import FindPackageShare
from launch_ros.actions import Node
from launch_ros.descriptions import ParameterFile

def generate_launch_description():
    pkg_unity_robot_controller = FindPackageShare(package="").find("unity_robot_controller")


    # Launch arguments
    launch_args = [
        DeclareLaunchArgument(
            "use_sim_time",
            description="Use clock from simulation",
            default_value="True",
        ),
        DeclareLaunchArgument(
            "namespace", default_value="sirius_bot", description="Top-level namespace"
        ),
    ]

    base_gesture_control_node = Node(
        package="wave_rover_controller",
        executable="base_gesture_control_node",
        name="base_gesture_control",
        namespace=LaunchConfiguration("namespace"),
            output="both",
            parameters=[
                {"fire_ext_max_capacity": 5},
            ],
            remappings=[
                ('image', '/camera_node/image_raw')
            ]
    )

    camera_node = Node(
        package='camera_ros',
        executable='camera_node',
        name='camera_node',
        #namespace='camera',
        output='screen',
        parameters=[{
            # Camera selection index (0 for the first detected libcamera device)
            'camera': 0,
            # Image streams configuration
            'width': 640,
            'height': 480,
            'frame_rate': 10.0,
            # Available options depend on your camera (e.g., 'sensor', 'video', 'still')
            'role': 'video',
            }]
        )

    return LaunchDescription(
        launch_args
        + [
            base_gesture_control_node,
            camera_node
        ]
    )