from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():
    # Get package path
    pkg_share = get_package_share_directory('right_sharpa_wave')  # <-- rename to your ROS2 package name

    # Launch arguments
    gui_arg = DeclareLaunchArgument(
        'gui',
        default_value='false',
        description='Flag to enable joint_state_publisher_gui'
    )

    # URDF file
    urdf_file = os.path.join(pkg_share, 'right_sharpa_wave.urdf')

    # Nodes
    joint_state_publisher_node = Node(
        package='joint_state_publisher_gui',
        executable='joint_state_publisher_gui',
        name='joint_state_publisher_gui',
        condition=None,  # could use IfCondition(LaunchConfiguration('gui'))
    )

    robot_state_publisher_node = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        name='robot_state_publisher',
        parameters=[{'robot_description': open(urdf_file).read()}]
    )

    rviz_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        arguments=['-d', os.path.join(pkg_share, 'config/sharpa.rviz')]
    )

    return LaunchDescription([
        gui_arg,
        joint_state_publisher_node,
        robot_state_publisher_node,
        rviz_node
    ])