"""Explicit deployment identity/site/journal; motion disabled unless opted in."""
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue


def generate_launch_description():
    names = [DeclareLaunchArgument('namespace'), DeclareLaunchArgument('robot_id'),
             DeclareLaunchArgument('site_config_file'), DeclareLaunchArgument('journal_directory'),
             DeclareLaunchArgument('execution_enabled', default_value='false')]
    return LaunchDescription(names + [Node(
        package='bt_executor', executable='bt_executor_node', output='screen',
        namespace=LaunchConfiguration('namespace'), parameters=[{
            'robot_id': LaunchConfiguration('robot_id'),
            'allowed_robots': [[LaunchConfiguration('robot_id')]],
            'site_config_file': LaunchConfiguration('site_config_file'),
            'journal_directory': LaunchConfiguration('journal_directory'),
            'execution_enabled': ParameterValue(LaunchConfiguration('execution_enabled'), value_type=bool),
        }])])