"""full_demo_launch.py - 同时启动所有 11 个节点。

节点组合:
    - 2 Publisher(py + cpp)
    - 2 Subscriber(py + cpp)
    - 1 AddTwoInts server
    - 1 Fibonacci server
    - 1 JointState publisher(C++)
    - 1 robot_state_publisher(系统包)
    - 1 TF2 listener(C++)
    - 1 fake_camera(Python)
    - 1 image_processor(Python)

总计:11 个 ROS2 节点同时运行。
"""
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare


def generate_launch_description() -> LaunchDescription:
    """生成启动描述:11 节点全开(每个子场景独立 launch)。"""
    pubsub_launch = PathJoinSubstitution([
        FindPackageShare('bringup'), 'launch', 'pubsub_launch.py',
    ])
    service_launch = PathJoinSubstitution([
        FindPackageShare('bringup'), 'launch', 'service_launch.py',
    ])
    action_launch = PathJoinSubstitution([
        FindPackageShare('bringup'), 'launch', 'action_launch.py',
    ])
    robot_launch = PathJoinSubstitution([
        FindPackageShare('bringup'), 'launch', 'robot_launch.py',
    ])
    vision_launch = PathJoinSubstitution([
        FindPackageShare('bringup'), 'launch', 'vision_launch.py',
    ])

    return LaunchDescription([
        IncludeLaunchDescription(PythonLaunchDescriptionSource(pubsub_launch)),
        IncludeLaunchDescription(PythonLaunchDescriptionSource(service_launch)),
        IncludeLaunchDescription(PythonLaunchDescriptionSource(action_launch)),
        IncludeLaunchDescription(PythonLaunchDescriptionSource(robot_launch)),
        IncludeLaunchDescription(PythonLaunchDescriptionSource(vision_launch)),
    ])