# Copyright 2024 Universidad Politécnica de Madrid
#
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"""All emulator launcher."""
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import EnvironmentVariable, LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():
    """Launch description."""
    return LaunchDescription([
        DeclareLaunchArgument('drone_id', description='Drone namespace',
                              default_value=EnvironmentVariable('AEROSTACK2_SIMULATION_DRONE_ID')),
        DeclareLaunchArgument(
            'use_sim_time', description='Use sim time flag', default_value='false'),

        Node(
            package='node_emulators',
            executable='platform_emulator',
            namespace=LaunchConfiguration('drone_id'),
            parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
            output='screen',
            emulate_tty=True,
            # arguments=['--ros-args', '--log-level', 'DEBUG']
        ),
        Node(
            package='node_emulators',
            executable='takeoff_emulator',
            namespace=LaunchConfiguration('drone_id'),
            parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
            output='screen',
            emulate_tty=True,
            # arguments=['--ros-args', '--log-level', 'DEBUG']
        ),
        Node(
            package='node_emulators',
            executable='land_emulator',
            namespace=LaunchConfiguration('drone_id'),
            parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
            output='screen',
            emulate_tty=True,
            # arguments=['--ros-args', '--log-level', 'DEBUG']
        ),
        Node(
            package='node_emulators',
            executable='go_to_emulator',
            namespace=LaunchConfiguration('drone_id'),
            parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
            output='screen',
            emulate_tty=True,
            # arguments=['--ros-args', '--log-level', 'DEBUG']
        ),
        Node(
            package='node_emulators',
            executable='follow_path_emulator',
            namespace=LaunchConfiguration('drone_id'),
            parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
            output='screen',
            emulate_tty=True,
            # arguments=['--ros-args', '--log-level', 'DEBUG']
        ),
    ])
