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


def generate_launch_description() -> LaunchDescription:
    return LaunchDescription([
        DeclareLaunchArgument('transport', default_value='udp'),
        DeclareLaunchArgument('server_addr', default_value=''),
        DeclareLaunchArgument('relay_via', default_value=''),
        DeclareLaunchArgument('peer_id', default_value='ros-keyboard-ctrl'),
        DeclareLaunchArgument('target_peer', default_value='ros-bridge-ctrl'),
        DeclareLaunchArgument('input_topic', default_value='/teleop/cmd_vel'),
        DeclareLaunchArgument('send_rate_hz', default_value='20.0'),
        DeclareLaunchArgument('input_timeout', default_value='0.75'),
        Node(
            package='udp_teleop_bridge',
            executable='cmd_vel_udp_sender',
            name='cmd_vel_udp_sender',
            output='screen',
            parameters=[{
                'transport': LaunchConfiguration('transport'),
                'server_addr': LaunchConfiguration('server_addr'),
                'relay_via': LaunchConfiguration('relay_via'),
                'peer_id': LaunchConfiguration('peer_id'),
                'target_peer': LaunchConfiguration('target_peer'),
                'input_topic': LaunchConfiguration('input_topic'),
                'send_rate_hz': ParameterValue(LaunchConfiguration('send_rate_hz'), value_type=float),
                'input_timeout': ParameterValue(LaunchConfiguration('input_timeout'), value_type=float),
            }],
        ),
    ])