# Copyright 2023 ros2_control Development Team
#
# 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.

from launch import LaunchDescription
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration

from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():


    robot_controllers = PathJoinSubstitution(
        [
            FindPackageShare("unitree_guide_controller"),
            "config",
            "controller.yaml",
        ]
    )

    robot_controller_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["unitree_guide_controller", "--param-file", robot_controllers],
    )

    nodes = [
        robot_controller_spawner,
    ]

    return LaunchDescription(nodes)