Use optional parameters in actions (#601)

Signed-off-by: Carlos Agüero <[email protected]>
gazebosim · Sep 5, 2024 · 08fca27 · 08fca27
1 parent 0767132
commit 08fca27
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Showing 3 changed files with 14 additions and 33 deletions.
diff --git a/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py b/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py
@@ -35,12 +35,12 @@ def __init__(
         self,
         *,
         name: SomeSubstitutionsType,
-        config_file: Optional[SomeSubstitutionsType] = None,
-        container_name: Optional[SomeSubstitutionsType] = None,
-        namespace: Optional[SomeSubstitutionsType] = None,
-        use_composition: Optional[SomeSubstitutionsType] = None,
-        use_respawn: Optional[SomeSubstitutionsType] = None,
-        log_level: Optional[SomeSubstitutionsType] = None,
+        config_file: SomeSubstitutionsType,
+        container_name: Optional[SomeSubstitutionsType] = 'ros_gz_container',
+        namespace: Optional[SomeSubstitutionsType] = '',
+        use_composition: Optional[SomeSubstitutionsType] = 'True',
+        use_respawn: Optional[SomeSubstitutionsType] = 'False',
+        log_level: Optional[SomeSubstitutionsType] = 'info',
         **kwargs
     ) -> None:
         """

diff --git a/ros_gz_sim/launch/ros_gz_sim.launch b/ros_gz_sim/launch/ros_gz_sim.launch
@@ -1,26 +1,7 @@
 <launch>
-  <arg name="name" />
-  <arg name="config_file" default="" />
-  <arg name="container_name" default="ros_gz_container" />
-  <arg name="namespace" default="" />
-  <arg name="use_composition" default="True" />
-  <arg name="use_respawn" default="False" />
-  <arg name="log_level" default="info" />
-  <arg name="world_sdf_file" default="empty.sdf" />
-  <arg name="world_sdf_string" default="" />
-  <gz_server
-    world_sdf_file="$(var world_sdf_file)"
-    world_sdf_string="$(var world_sdf_string)"
-    container_name="$(var container_name)"
-    use_composition="$(var use_composition)">
-  </gz_server>
+  <gz_server 
+    world_sdf_file="empty.sdf" />
   <ros_gz_bridge
-    name="$(var name)"
-    config_file="$(var config_file)"
-    container_name="$(var container_name)"
-    namespace="$(var namespace)"
-    use_composition="$(var use_composition)"
-    use_respawn="$(var use_respawn)"
-    log_level="$(var log_level)">
-  </ros_gz_bridge>
+    name="bridge"
+    config_file="/home/caguero/ros_gz_ws/src/ros_gz/ros_gz_bridge/test/config/full.yaml" />
 </launch>
diff --git a/ros_gz_sim/ros_gz_sim/actions/gzserver.py b/ros_gz_sim/ros_gz_sim/actions/gzserver.py
@@ -34,10 +34,10 @@ class GzServer(Action):
     def __init__(
         self,
         *,
-        world_sdf_file: Optional[SomeSubstitutionsType] = None,
-        world_sdf_string: Optional[SomeSubstitutionsType] = None,
-        container_name: Optional[SomeSubstitutionsType] = None,
-        use_composition: Optional[SomeSubstitutionsType] = None,
+        world_sdf_file: Optional[SomeSubstitutionsType] = '',
+        world_sdf_string: Optional[SomeSubstitutionsType] = '',
+        container_name: Optional[SomeSubstitutionsType] = 'ros_gz_container',
+        use_composition: Optional[SomeSubstitutionsType] = 'True',
         **kwargs
     ) -> None:
         """