import os

from ament_index_python import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, RegisterEventHandler, TimerAction
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
    namespace = LaunchConfiguration('namespace')
    
    declared_args = [
        DeclareLaunchArgument(
            'namespace', default_value='',
            description='ROS namespace for all robot nodes (e.g. "robot1").'
        ),
    ]


    rviz_config_dir = os.path.join(
        get_package_share_directory('raspbot_v2_sim'),
        'rviz', 'raspbot_v2.rviz')
    
    bringup_robot = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([
            PathJoinSubstitution([
                FindPackageShare('raspbot_v2_bringup'), 'launch', 'raspbot_v2_bringup.launch.py'
            ])
        ]),
        launch_arguments={
            'namespace': namespace,
            'use_sim_time': 'false',
        }.items()
    )

    return LaunchDescription([
        *declared_args,
        bringup_robot,
        Node(
            package="rviz2",
            executable="rviz2",
            name="rviz2",
            arguments=['-d', rviz_config_dir],
            output='screen',
        )

    ])