# Copyright 2018 Lucas Walter
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# Software License Agreement (BSD License 2.0)
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING INalibraalibration file /home/javierfr/.ros/camera_info/default_cam.yaml not tion file /home/javierfr/.ros/camera_info/default_cam.yaml not 
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# POSSIBILITY OF SUCH DAMAGE.


import argparse
from launch import LaunchDescription
from launch_ros.actions import Node

import os
import sys

from ament_index_python.packages import get_package_share_directory


def generate_launch_description():
    ld = LaunchDescription()

    parser = argparse.ArgumentParser(description='usb_cam demo')
    parser.add_argument('-n', '--node-name', dest='node_name', type=str,
                        help='name for device', default='usb_cam')

    args, unknown = parser.parse_known_args(sys.argv[4:])

    #usb_cam_dir = get_package_share_directory('usb_cam')
    usb_cam_dir = get_package_share_directory('img_proc_pkg')
    

    # get path to params file
    params_path = os.path.join(
        usb_cam_dir,
        'config',
        'params.yaml'
    )

    node_name = args.node_name

    print(params_path)
    ld.add_action(Node(
        package='usb_cam', executable='usb_cam_node_exe', output='screen',
        name=node_name,
        # namespace=ns,
        parameters=[params_path]
        ))
    ld.add_action(Node(
        package='usb_cam', executable='show_image.py', output='screen',
        # namespace=ns,
        # arguments=[image_manip_dir + "/data/mosaic.jpg"])
        # remappings=[('image_in', '/cameras/camera1/image_raw')]
        ))

    return ld
