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

def generate_launch_description():
    return LaunchDescription([
        DeclareLaunchArgument("map_file", default_value="/home/cyy/sim_map.pgm"),
        DeclareLaunchArgument("lookahead", default_value="0.8"),
        DeclareLaunchArgument("test_mode", default_value="false"),

        # Static TF: base_link → laser
        Node(
            package="tf2_ros", executable="static_transform_publisher",
            name="tf_laser",
            arguments=["0","0","0.12","0","0","0","base_link","laser"],
        ),

        # Main navigation node
        Node(
            package="car_nav_lite",
            executable="nav_lite_node",
            name="nav_lite_node",
            output="screen",
            parameters=[{
                "map_file": LaunchConfiguration("map_file"),
                "lookahead": LaunchConfiguration("lookahead"),
                "test_mode": LaunchConfiguration("test_mode"),
            }],
        ),
    ])