---
launch:
  # Data to visualize
  - arg: {name: map_file, default: '$(find-pkg-share khronos_ros)/../output/final.4dmap'}
  
  # Visualization config
  - arg: {name: show_gui, default: 'true'}
  - arg: {name: visualizer_config, default: 4d_visualizer.yaml}
  - arg: {name: world_frame, default: world}
  - arg: {name: rviz_file, default: 4d_visualizer.rviz}
  
  # Visualizer node
  - arg: {name: visualizer_node_name, default: spatio_temporal_visualizer}
  
  # Launch the spatio_temporal_visualizer_node
  - node:
      pkg: khronos_ros
      exec: spatio_temporal_visualizer_node
      name: $(var visualizer_node_name)
      output: screen
      args: >
        --config-utilities-file $(find-pkg-share khronos_ros)/config/visualization/$(var visualizer_config)
        --config-utilities-yaml {map_file: $(var map_file), global_frame_name: $(var world_frame)}
  
  # Launch the GUI if requested
  - node:
      if: $(var show_gui)
      pkg: khronos_ros
      exec: spatio_temporal_visualizer_gui.py
      name: spatio_temporal_visualizer_gui
      output: screen
      param:
        - {name: gui.visualizer_ns, value: /$(var visualizer_node_name)}
        - {name: gui.query_time_unit, value: s}
        - {name: gui.robot_time_unit, value: s}
  
  # Launch RViz2
  - node:
      if: $(var show_gui)
      name: rviz
      pkg: rviz2
      exec: rviz2
      output: screen
      args: -d $(find-pkg-share khronos_ros)/config/rviz/$(var rviz_file)
  
  # Static transform publisher for map to world
  - node:
      pkg: tf2_ros
      exec: static_transform_publisher
      name: global_tf
      args: --frame-id map --child-frame-id world