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


def generate_launch_description() -> LaunchDescription:
    return LaunchDescription([
        DeclareLaunchArgument("udp_host", default_value="0.0.0.0"),
        DeclareLaunchArgument("udp_port", default_value="15000"),
        DeclareLaunchArgument("topic", default_value="/xr/right_controller"),
        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"),
                "topic": LaunchConfiguration("topic"),
            }],
        ),
    ])