From e46d63349e852d24e5de299592ebfab2c7cab964 Mon Sep 17 00:00:00 2001
From: Tiffany Cappellari <tcappellari@theaiinstitute.com>
Date: Thu, 19 Dec 2024 15:26:53 +0000
Subject: [PATCH] reverted spot_description launch files

---
 spot_description/launch/description.launch.py | 21 +++++++++++--------
 .../launch/standalone_arm.launch.py           |  5 ++---
 2 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/spot_description/launch/description.launch.py b/spot_description/launch/description.launch.py
index 65f0e56f2..0398d0a75 100644
--- 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
index 05301b331..2a75de017 100644
--- 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"