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

def generate_launch_description():
   
    return LaunchDescription([

        # SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
        # SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '0'),

        # # Launch arguments
        # DeclareLaunchArgument('object_prefix', default_value='testingggggg', description='TF prefix of objects.'),
       
        # DeclareLaunchArgument('rgb_topic', default_value='rgb_img', description='Image topic.'),
        # DeclareLaunchArgument('depth_topic', default_value='depth_img', description='Registered depth topic.'),
        # DeclareLaunchArgument('camera_info_topic', default_value='camera_info', description='Camera info topic.'),
        # DeclareLaunchArgument('bounding_box_topic', default_value='bboxes', description='Bouding box topic.'),

        # Nodes to launch
        Node(
            package='yolov3_msg', executable='detect_on_bag.py', output='screen',
            # parameters=[{
            #   'object_prefix':LaunchConfiguration('object_prefix'),
            # }],
            # remappings=[
            #     ('rgb_img', LaunchConfiguration('rgb_topic')),
            #     ('depth_img', LaunchConfiguration('depth_topic')),
            #     ('camera_info', LaunchConfiguration('camera_info_topic'))]
                ), 
    ])