#!/usr/bin/env bash
set -euo pipefail

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"

source_with_nounset_off() {
  set +u
  # shellcheck disable=SC1090
  source "$1"
  set -u
}

# shellcheck disable=SC1091
source "${SCRIPT_DIR}/load-env.sh"
source_with_nounset_off "/opt/ros/${ROS_DISTRO}/setup.bash"

cd "${ROS_CONTROL_PY_DIR}"
source_with_nounset_off "install/setup.bash"

exec ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py \
  "transport:=${ROBOT_RECEIVER_TRANSPORT}" \
  "server_addr:=${ROBOT_RECEIVER_SERVER_ADDR}" \
  "relay_via:=${ROBOT_RECEIVER_RELAY_VIA}" \
  "peer_id:=${ROBOT_RECEIVER_PEER_ID}" \
  "expected_sender:=${ROBOT_RECEIVER_EXPECTED_SENDER}" \
  "local_socket_path:=${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}" \
  "output_topic:=${ROBOT_RECEIVER_OUTPUT_TOPIC}" \
  "frame_id:=${ROBOT_RECEIVER_FRAME_ID}" \
  "watchdog_timeout:=${ROBOT_RECEIVER_WATCHDOG_TIMEOUT}" \
  "publish_rate_hz:=${ROBOT_RECEIVER_PUBLISH_RATE_HZ}"