"""perception_manager 공통 진입점 (통합 perception 모듈).

LocalLauncher buildPerceptionArg 가 모든 모델 pkg 에 동일한 계약으로
`ros2 launch perception_lmnet_pkg perception.launch.py robot:=.. use_sim_time:=.. model_source:=..`
를 스폰하므로(perception_pkg/launch_spec.py), 모델 launch(lmnet.launch.py)로 위임한다.
robot 은 공통 계약상 선언만 하고, 모델 launch 가 선언한 경우에만 소비된다.
"""
import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration


def generate_launch_description():
    share = get_package_share_directory('perception_lmnet_pkg')
    return LaunchDescription([
        DeclareLaunchArgument('robot', default_value='fr09'),
        DeclareLaunchArgument('use_sim_time', default_value='true'),
        DeclareLaunchArgument('model_source', default_value='finetuned'),
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                os.path.join(share, 'launch', 'lmnet.launch.py')),
            launch_arguments={
                'robot': LaunchConfiguration('robot'),
                'use_sim_time': LaunchConfiguration('use_sim_time'),
                'model_source': LaunchConfiguration('model_source'),
            }.items(),
        ),
    ])