from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import PushRosNamespace
from launch.actions import GroupAction
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch_ros.actions import Node
import os


def generate_launch_description():
    # Declare arguments
    args = [
        DeclareLaunchArgument('camera_name', default_value='camera'),
        DeclareLaunchArgument('depth_registration', default_value='false'),
        DeclareLaunchArgument('serial_number', default_value=''),
        DeclareLaunchArgument('usb_port', default_value=''),
        DeclareLaunchArgument('device_num', default_value='1'),
        DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
        DeclareLaunchArgument('product_id', default_value=''),
        DeclareLaunchArgument('point_cloud_qos', default_value='default'),
        DeclareLaunchArgument('cloud_frame_id', default_value=''),
        DeclareLaunchArgument('connection_delay', default_value='100'),
        DeclareLaunchArgument('color_width', default_value='1280'),
        DeclareLaunchArgument('color_height', default_value='800'),
        DeclareLaunchArgument('color_fps', default_value='10'),
        DeclareLaunchArgument('color_format', default_value='MJPG'),
        DeclareLaunchArgument('enable_color', default_value='true'),
        DeclareLaunchArgument('flip_color', default_value='false'),
        DeclareLaunchArgument('color_qos', default_value='default'),
        DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
        DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
        DeclareLaunchArgument('color_exposure', default_value='-1'),
        DeclareLaunchArgument('color_gain', default_value='-1'),
        DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
        DeclareLaunchArgument('color_white_balance', default_value='-1'),
        DeclareLaunchArgument('left_ir_width', default_value='1280'),
        DeclareLaunchArgument('left_ir_height', default_value='800'),
        DeclareLaunchArgument('left_ir_fps', default_value='10'),
        DeclareLaunchArgument('left_ir_format', default_value='Y8'),
        DeclareLaunchArgument('enable_left_ir', default_value='true'),
        DeclareLaunchArgument('flip_left_ir', default_value='false'),
        DeclareLaunchArgument('left_ir_qos', default_value='default'),
        DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
        DeclareLaunchArgument('right_ir_width', default_value='1280'),
        DeclareLaunchArgument('right_ir_height', default_value='800'),
        DeclareLaunchArgument('right_ir_fps', default_value='10'),
        DeclareLaunchArgument('right_ir_format', default_value='Y8'),
        DeclareLaunchArgument('enable_right_ir', default_value='true'),
        DeclareLaunchArgument('flip_right_ir', default_value='false'),
        DeclareLaunchArgument('right_ir_qos', default_value='default'),
        DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
        DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
        DeclareLaunchArgument('ir_exposure', default_value='-1'),
        DeclareLaunchArgument('ir_gain', default_value='-1'),
        DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
        DeclareLaunchArgument('enable_accel', default_value='true'),
        DeclareLaunchArgument('accel_rate', default_value='100hz'),
        DeclareLaunchArgument('accel_range', default_value='4g'),
        DeclareLaunchArgument('enable_gyro', default_value='true'),
        DeclareLaunchArgument('gyro_rate', default_value='1KHZ'),
        DeclareLaunchArgument('gyro_range', default_value='500dps'),
        DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
        DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
        DeclareLaunchArgument('publish_tf', default_value='true'),
        DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
        DeclareLaunchArgument('ir_info_url', default_value=''),
        DeclareLaunchArgument('color_info_url', default_value=''),
        DeclareLaunchArgument('log_level', default_value='none'),
        DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
        DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
        DeclareLaunchArgument('enable_ldp', default_value='true'),
        DeclareLaunchArgument('enable_soft_filter', default_value='true'),
        DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
        DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
        DeclareLaunchArgument('sync_mode', default_value='standalone'),
        DeclareLaunchArgument('depth_delay_us', default_value='0'),
        DeclareLaunchArgument('color_delay_us', default_value='0'),
        DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
        DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
        DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
        DeclareLaunchArgument('enable_frame_sync', default_value='true'),
        DeclareLaunchArgument('ordered_pc', default_value='false'),
        DeclareLaunchArgument('use_hardware_time', default_value='true'),
        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
        DeclareLaunchArgument('align_mode', default_value='HW'),
        DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
    ]

    # Node configuration
    parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
    # get  ROS_DISTRO
    ros_distro = os.environ["ROS_DISTRO"]
    if ros_distro == "foxy":
        return LaunchDescription(
            args
            + [
                Node(
                    package="orbbec_camera",
                    executable="orbbec_camera_node",
                    name="ob_camera_node",
                    namespace=LaunchConfiguration("camera_name"),
                    parameters=parameters,
                    output="screen",
                )
            ]
        )
    # Define the ComposableNode
    else:
        # Define the ComposableNode
        compose_node = ComposableNode(
            package="orbbec_camera",
            plugin="orbbec_camera::OBCameraNodeDriver",
            name=LaunchConfiguration("camera_name"),
            namespace="",
            parameters=parameters,
        )
        # Define the ComposableNodeContainer
        container = ComposableNodeContainer(
            name="camera_container",
            namespace="",
            package="rclcpp_components",
            executable="component_container",
            composable_node_descriptions=[
                compose_node,
            ],
            output="screen",
        )
        # Launch description
        ld = LaunchDescription(
            args
            + [
                GroupAction(
                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
                )
            ]
        )
        return ld