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-bridge-ctrl'),
        DeclareLaunchArgument('expected_sender', default_value=''),
        DeclareLaunchArgument('output_topic', default_value='/hric/robot/cmd_vel'),
        DeclareLaunchArgument('frame_id', default_value='pelvis'),
        DeclareLaunchArgument('watchdog_timeout', default_value='0.5'),
        DeclareLaunchArgument('publish_rate_hz', default_value='100.0'),
        Node(
            package='udp_teleop_bridge',
            executable='udp_cmd_vel_receiver',
            name='udp_cmd_vel_receiver',
            output='screen',
            parameters=[{
                'transport': LaunchConfiguration('transport'),
                'server_addr': LaunchConfiguration('server_addr'),
                'relay_via': LaunchConfiguration('relay_via'),
                'peer_id': LaunchConfiguration('peer_id'),
                'expected_sender': LaunchConfiguration('expected_sender'),
                'output_topic': LaunchConfiguration('output_topic'),
                'frame_id': LaunchConfiguration('frame_id'),
                'watchdog_timeout': ParameterValue(LaunchConfiguration('watchdog_timeout'), value_type=float),
                'publish_rate_hz': ParameterValue(LaunchConfiguration('publish_rate_hz'), value_type=float),
            }],
        ),
    ])