# Copyright 2019 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# Author: Darby Lim

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


def generate_launch_description():
    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
    resolution = LaunchConfiguration('resolution', default='0.05')
    publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')

    return LaunchDescription([
        DeclareLaunchArgument(
            'resolution',
            default_value=resolution,
            description='Resolution of a grid cell in the published occupancy grid'),

        DeclareLaunchArgument(
            'publish_period_sec',
            default_value=publish_period_sec,
            description='OccupancyGrid publishing period'),

        DeclareLaunchArgument(
            'use_sim_time',
            default_value='false',
            description='Use simulation (Gazebo) clock if true'),

        Node(
            package='cartographer_ros',
            executable='cartographer_occupancy_grid_node',
            name='cartographer_occupancy_grid_node',
            output='screen',
            parameters=[{'use_sim_time': use_sim_time}],
            arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec]),
    ])
