From a8eaacc06109cbff6f44471cb20ed3ab9db8fd28 Mon Sep 17 00:00:00 2001
From: Tiffany Cappellari <tcappellari@theaiinstitute.com>
Date: Thu, 19 Dec 2024 15:31:12 +0000
Subject: [PATCH] used custom launch actions from synchros2 in
 spot_launch_helpers.py too

---
 .../spot_driver/launch/spot_launch_helpers.py | 21 ++++++++-----------
 1 file changed, 9 insertions(+), 12 deletions(-)

diff --git a/spot_driver/spot_driver/launch/spot_launch_helpers.py b/spot_driver/spot_driver/launch/spot_launch_helpers.py
index 4febb6b5..a94a4ee0 100644
--- a/spot_driver/spot_driver/launch/spot_launch_helpers.py
+++ b/spot_driver/spot_driver/launch/spot_launch_helpers.py
@@ -7,6 +7,7 @@
 
 import yaml
 from launch.actions import DeclareLaunchArgument
+from synchros2.launch.actions import DeclareBooleanLaunchArgument
 
 from spot_wrapper.wrapper import SpotWrapper
 
@@ -67,10 +68,9 @@ def declare_image_publisher_args() -> List[DeclareLaunchArgument]:
         )
     )
     launch_args.append(
-        DeclareLaunchArgument(
+        DeclareBooleanLaunchArgument(
             "publish_point_clouds",
-            default_value="False",
-            choices=["True", "true", "False", "false"],
+            default_value=False,
             description=(
                 "If true, create and publish point clouds for each depth registered and RGB camera pair. Requires that"
                 " the depth_register_mode launch argument is set to a value that is not `disable`."
@@ -78,26 +78,23 @@ def declare_image_publisher_args() -> List[DeclareLaunchArgument]:
         )
     )
     launch_args.append(
-        DeclareLaunchArgument(
+        DeclareBooleanLaunchArgument(
             "uncompress_images",
-            default_value="True",
-            choices=["True", "true", "False", "false"],
+            default_value=True,
             description="Choose whether to publish uncompressed images from Spot.",
         )
     )
     launch_args.append(
-        DeclareLaunchArgument(
+        DeclareBooleanLaunchArgument(
             "publish_compressed_images",
-            default_value="False",
-            choices=["True", "true", "False", "false"],
+            default_value=False,
             description="Choose whether to publish compressed images from Spot.",
         )
     )
     launch_args.append(
-        DeclareLaunchArgument(
+        DeclareBooleanLaunchArgument(
             "stitch_front_images",
-            default_value="False",
-            choices=["True", "true", "False", "false"],
+            default_value=False,
             description=(
                 "Choose whether to publish a stitched image constructed from Spot's front left and right cameras."
             ),