from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
    return LaunchDescription([

        # ── Motor controller arguments ────────────────────────────────────
        DeclareLaunchArgument('wheel_base', default_value='0.3',
                              description='Distance between left and right wheels (m)'),
        DeclareLaunchArgument('max_speed',  default_value='1.0',
                              description='Maximum motor speed in library units'),

        # ── Camera orientation arguments ──────────────────────────────────
        DeclareLaunchArgument('pan_center_deg',  default_value='90.0',
                              description='Pan angle at startup and shutdown (degrees)'),
        DeclareLaunchArgument('tilt_center_deg', default_value='60.0',
                              description='Tilt angle at startup and shutdown (degrees)'),

        # ── Nodes ─────────────────────────────────────────────────────────
        Node(
            package='my_robot',
            executable='motor_controller',
            name='motor_controller',
            parameters=[{
                'wheel_base': LaunchConfiguration('wheel_base'),
                'max_speed':  LaunchConfiguration('max_speed'),
            }],
            output='screen',
        ),

        Node(
            package='my_robot',
            executable='camera_orientation',
            name='camera_orientation',
            parameters=[{
                'pan_center_deg':  LaunchConfiguration('pan_center_deg'),
                'tilt_center_deg': LaunchConfiguration('tilt_center_deg'),
            }],
            output='screen',
        ),

    ])