From 0ec697683d855a133f17227216519655b620287e Mon Sep 17 00:00:00 2001
From: Amronos <134804732+Amronos@users.noreply.github.com>
Date: Thu, 12 Sep 2024 12:36:26 +0530
Subject: [PATCH] Change world_string to model_string in gz_spawn_model files
 (#606)

* Change world_string to model_string

Also changed description from XML string to XML(SDF) string

Signed-off-by: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
---
 ros_gz_sim/launch/gz_spawn_model.launch         |  4 ++--
 ros_gz_sim/launch/gz_spawn_model.launch.py      | 12 ++++++------
 ros_gz_sim/launch/ros_gz_spawn_model.launch.py  |  2 +-
 ros_gz_sim/ros_gz_sim/actions/gz_spawn_model.py |  2 +-
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/ros_gz_sim/launch/gz_spawn_model.launch b/ros_gz_sim/launch/gz_spawn_model.launch
index a132ae08..9285ceff 100644
--- a/ros_gz_sim/launch/gz_spawn_model.launch
+++ b/ros_gz_sim/launch/gz_spawn_model.launch
@@ -1,7 +1,7 @@
 <launch>
   <arg name="world" default="" />
   <arg name="file" default="" />
-  <arg name="world_string" default="" />
+  <arg name="model_string" default="" />
   <arg name="topic" default="" />
   <arg name="entity_name" default="" />
   <arg name="allow_renaming" default="False" />
@@ -14,7 +14,7 @@
   <gz_spawn_model 
     world="$(var world)"
     file="$(var file)"
-    world_string="$(var world_string)"
+    model_string="$(var model_string)"
     topic="$(var topic)"
     entity_name="$(var entity_name)"
     allow_renaming="$(var allow_renaming)"
diff --git a/ros_gz_sim/launch/gz_spawn_model.launch.py b/ros_gz_sim/launch/gz_spawn_model.launch.py
index 65bd7c9f..5fe3ae41 100644
--- a/ros_gz_sim/launch/gz_spawn_model.launch.py
+++ b/ros_gz_sim/launch/gz_spawn_model.launch.py
@@ -24,7 +24,7 @@ def generate_launch_description():
 
     world = LaunchConfiguration('world')
     file = LaunchConfiguration('file')
-    world_string = LaunchConfiguration('world_string')
+    model_string = LaunchConfiguration('model_string')
     topic = LaunchConfiguration('topic')
     entity_name = LaunchConfiguration('entity_name')
     allow_renaming = LaunchConfiguration('allow_renaming')
@@ -41,10 +41,10 @@ def generate_launch_description():
     declare_file_cmd = DeclareLaunchArgument(
         'file', default_value=TextSubstitution(text=''),
         description='SDF filename')
-    declare_world_string_cmd = DeclareLaunchArgument(
-        'world_string',
+    declare_model_string_cmd = DeclareLaunchArgument(
+        'model_string',
         default_value='',
-        description='XML string',
+        description='XML(SDF) string',
     )
     declare_topic_cmd = DeclareLaunchArgument(
         'topic', default_value=TextSubstitution(text=''),
@@ -65,7 +65,7 @@ def generate_launch_description():
         output='screen',
         parameters=[{'world': world,
                      'file': file,
-                     'string': world_string,
+                     'string': model_string,
                      'topic': topic,
                      'name': entity_name,
                      'allow_renaming': allow_renaming,
@@ -84,7 +84,7 @@ def generate_launch_description():
     # Declare the launch options
     ld.add_action(declare_world_cmd)
     ld.add_action(declare_file_cmd)
-    ld.add_action(declare_world_string_cmd)
+    ld.add_action(declare_model_string_cmd)
     ld.add_action(declare_topic_cmd)
     ld.add_action(declare_entity_name_cmd)
     ld.add_action(declare_allow_renaming_cmd)
diff --git a/ros_gz_sim/launch/ros_gz_spawn_model.launch.py b/ros_gz_sim/launch/ros_gz_spawn_model.launch.py
index 85359bb6..e5e20ebd 100644
--- a/ros_gz_sim/launch/ros_gz_spawn_model.launch.py
+++ b/ros_gz_sim/launch/ros_gz_spawn_model.launch.py
@@ -87,7 +87,7 @@ def generate_launch_description():
     declare_model_string_cmd = DeclareLaunchArgument(
         'model_string',
         default_value='',
-        description='XML string',
+        description='XML(SDF) string',
     )
 
     declare_topic_cmd = DeclareLaunchArgument(
diff --git a/ros_gz_sim/ros_gz_sim/actions/gz_spawn_model.py b/ros_gz_sim/ros_gz_sim/actions/gz_spawn_model.py
index 874aff33..a8fced10 100644
--- a/ros_gz_sim/ros_gz_sim/actions/gz_spawn_model.py
+++ b/ros_gz_sim/ros_gz_sim/actions/gz_spawn_model.py
@@ -56,7 +56,7 @@ def __init__(
 
         :param: world World name.
         :param: file SDF filename.
-        :param: model_string XML string.
+        :param: model_string XML(SDF) string.
         :param: topic Get XML from this topic.
         :param: entity_name Name of the entity.
         :param: allow_renaming Whether the entity allows renaming or not.