# Copyright (c) 2020 Open Source Robotics Foundation, Inc.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
#    * Redistributions of source code must retain the above copyright
#      notice, this list of conditions and the following disclaimer.
#
#    * Redistributions in binary form must reproduce the above copyright
#      notice, this list of conditions and the following disclaimer in the
#      documentation and/or other materials provided with the distribution.
#
#    * Neither the name of the copyright holder nor the names of its
#      contributors may be used to endorse or promote products derived from
#      this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

# This launch file shows how to launch robot_state_publisher with a URDF
# first processed using the xacro command-line program using Popen.

import os
import subprocess

import launch
import launch_ros.actions
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    pkg_share = FindPackageShare('robot_state_publisher').find('robot_state_publisher')
    urdf_dir = os.path.join(pkg_share, 'urdf')
    xacro_file = os.path.join(urdf_dir, 'test-desc.urdf.xacro')
    p = subprocess.Popen(['xacro', xacro_file], stdout=subprocess.PIPE, stderr=subprocess.PIPE)
    robot_desc, stderr = p.communicate()
    params = {'robot_description': robot_desc.decode('utf-8')}
    rsp = launch_ros.actions.Node(package='robot_state_publisher',
                                  executable='robot_state_publisher',
                                  output='both',
                                  parameters=[params])

    return launch.LaunchDescription([rsp])
