from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description() -> LaunchDescription:
    config_file = PathJoinSubstitution([
        FindPackageShare("xr_rm_bringup"),
        "config",
        "dual_arm_rm75.yaml",
    ])

    return LaunchDescription([
        DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
        DeclareLaunchArgument("udp_port", default_value="15000"),
        # 接收 PICO/XR 侧 UDP 数据，并按左右手字段分发到对应手柄话题。
        Node(
            package="xr_rm_input",
            executable="udp_controller_receiver",
            name="udp_controller_receiver",
            output="screen",
            parameters=[{
                "udp_host": LaunchConfiguration("udp_host"),
                "udp_port": LaunchConfiguration("udp_port"),
                "left_topic": "/xr/left_controller",
                "right_topic": "/xr/right_controller",
            }],
        ),
        # 左臂模拟节点：不连接真实 RM75，只积分速度命令用于验证坐标方向。
        Node(
            package="xr_rm_teleop",
            executable="single_arm_velocity_teleop",
            name="left_arm_teleop",
            output="screen",
            parameters=[config_file, {"use_mock": True}],
        ),
        # 右臂模拟节点：与左臂共用同一配置文件，但读取右手柄话题。
        Node(
            package="xr_rm_teleop",
            executable="single_arm_velocity_teleop",
            name="right_arm_teleop",
            output="screen",
            parameters=[config_file, {"use_mock": True}],
        ),
        # 右手扳机键到 OmniPicker 归一化力控指令的桥接，模拟阶段用于检查话题输出。
        Node(
            package="xr_rm_teleop",
            executable="gripper_trigger_bridge",
            name="right_omnipicker_trigger_bridge",
            output="screen",
            parameters=[config_file],
        ),
    ])