reverted spot_description launch files

bdaiinstitute · Dec 19, 2024 · e46d633 · e46d633
1 parent d567b75
commit e46d633
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Showing 2 changed files with 14 additions and 12 deletions.
diff --git a/spot_description/launch/description.launch.py b/spot_description/launch/description.launch.py
@@ -7,7 +7,6 @@
 from launch.substitutions import Command, LaunchConfiguration
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-from synchros2.launch.actions import DeclareBooleanLaunchArgument
 
 
 def generate_launch_description() -> launch.LaunchDescription:
@@ -16,9 +15,10 @@ def generate_launch_description() -> launch.LaunchDescription:
     default_rviz2_path = os.path.join(pkg_share, "rviz/viz_spot.rviz")
     return launch.LaunchDescription(
         [
-            DeclareBooleanLaunchArgument(
+            DeclareLaunchArgument(
                 name="gui",
-                default_value=True,
+                default_value="True",
+                choices=["True", "true", "False", "false"],
                 description="Flag to enable joint_state_publisher_gui",
             ),
             DeclareLaunchArgument(
@@ -27,19 +27,22 @@ def generate_launch_description() -> launch.LaunchDescription:
             DeclareLaunchArgument(
                 name="rvizconfig", default_value=default_rviz2_path, description="Absolute path to rviz config file"
             ),
-            DeclareBooleanLaunchArgument(
+            DeclareLaunchArgument(
                 name="arm",
-                default_value=False,
+                default_value="False",
+                choices=["True", "true", "False", "false"],
                 description="Flag to enable arm",
             ),
-            DeclareBooleanLaunchArgument(
+            DeclareLaunchArgument(
                 name="feet",
-                default_value=False,
+                default_value="False",
+                choices=["True", "true", "False", "false"],
                 description="Flag to enable putting frames at the feet",
             ),
-            DeclareBooleanLaunchArgument(
+            DeclareLaunchArgument(
                 name="gripperless",
-                default_value=False,
+                default_value="False",
+                choices=["True", "true", "False", "false"],
                 description="Flag to remove the gripper from the arm model",
             ),
             DeclareLaunchArgument(

diff --git a/spot_description/launch/standalone_arm.launch.py b/spot_description/launch/standalone_arm.launch.py
@@ -5,7 +5,6 @@
 import launch
 import launch_ros
 from launch.substitutions import Command, LaunchConfiguration
-from synchros2.launch.actions import DeclareBooleanLaunchArgument
 
 
 def generate_launch_description() -> launch.LaunchDescription:
@@ -14,8 +13,8 @@ def generate_launch_description() -> launch.LaunchDescription:
     default_rviz2_path = os.path.join(pkg_share, "rviz/standalone_arm.rviz")
     return launch.LaunchDescription(
         [
-            DeclareBooleanLaunchArgument(
-                name="gui", default_value=True, description="Flag to enable joint_state_publisher_gui"
+            launch.actions.DeclareLaunchArgument(
+                name="gui", default_value="True", description="Flag to enable joint_state_publisher_gui"
             ),
             launch.actions.DeclareLaunchArgument(
                 name="model", default_value=default_model_path, description="Absolute path to robot urdf file"