import os
import launch
import launch_ros
from launch_ros.actions import Node
from launch import LaunchDescription
from ament_index_python.packages import get_package_share_directory
import xacro

def generate_launch_description():
    # 获取默认的urdf文件路径
    pkg_trolley = get_package_share_directory('trolley')
    xacro_path = os.path.join(pkg_trolley, 'urdf', 'miniBox.urdf.xacro')
    # 处理xacro文件，生成robot_description参数
    robot_description_config = xacro.process_file(xacro_path).toxml()
    
    # 创建Node节点，发布robot_description参数
    rsp = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        output='screen',
        parameters=[{'robot_description': robot_description_config}]
    )
    
    # 给可动关节提供 joint_states 发布器
    jsp=Node(
        package='joint_state_publisher',
        executable='joint_state_publisher',
        output='screen',
        parameters=[]
    )
    
    # rviz_config=os.path.join(pkg_trolley, 'rviz', 'miniBox.rviz')
    
    rviz = Node(
        package='rviz2',
        executable='rviz2',
        output='screen',
        arguments=[]
    )
    
    return launch.LaunchDescription([
        rsp,
        jsp,
        rviz
    ])