From 66c7a4a5b41bc2466f2334e216f0434a10303fdc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Wed, 11 Sep 2024 21:51:10 +0200
Subject: [PATCH] Use model string in ros_gz_spawn_model.launch.py (#605)
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Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 ros_gz_sim/launch/ros_gz_spawn_model.launch.py | 10 +++++-----
 .../ros_gz_sim/actions/gz_spawn_model.py       | 18 +++++++++---------
 2 files changed, 14 insertions(+), 14 deletions(-)

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 245edbeb..85359bb6 100644
--- a/ros_gz_sim/launch/ros_gz_spawn_model.launch.py
+++ b/ros_gz_sim/launch/ros_gz_spawn_model.launch.py
@@ -33,7 +33,7 @@ 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')
@@ -84,8 +84,8 @@ def generate_launch_description():
         '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',
     )
@@ -125,7 +125,7 @@ def generate_launch_description():
                                    'gz_spawn_model.launch.py'])]),
         launch_arguments=[('world', world),
                           ('file', file),
-                          ('world_string', world_string),
+                          ('model_string', model_string),
                           ('topic', topic),
                           ('entity_name', entity_name),
                           ('allow_renaming', allow_renaming),
@@ -149,7 +149,7 @@ def generate_launch_description():
     ld.add_action(declare_log_level_cmd)
     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/ros_gz_sim/actions/gz_spawn_model.py b/ros_gz_sim/ros_gz_sim/actions/gz_spawn_model.py
index 95992652..874aff33 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
@@ -36,7 +36,7 @@ def __init__(
         *,
         world: Optional[SomeSubstitutionsType] = None,
         file: Optional[SomeSubstitutionsType] = None,
-        world_string: Optional[SomeSubstitutionsType] = None,
+        model_string: Optional[SomeSubstitutionsType] = None,
         topic: Optional[SomeSubstitutionsType] = None,
         entity_name: Optional[SomeSubstitutionsType] = None,
         allow_renaming: Optional[SomeSubstitutionsType] = None,
@@ -56,7 +56,7 @@ def __init__(
 
         :param: world World name.
         :param: file SDF filename.
-        :param: world_string XML string.
+        :param: model_string XML 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.
@@ -70,7 +70,7 @@ def __init__(
         super().__init__(**kwargs)
         self.__world = world
         self.__file = file
-        self.__world_string = world_string
+        self.__model_string = model_string
         self.__topic = topic
         self.__entity_name = entity_name
         self.__allow_renaming = allow_renaming
@@ -94,8 +94,8 @@ def parse(cls, entity: Entity, parser: Parser):
             'file', data_type=str,
             optional=True)
 
-        world_string = entity.get_attr(
-            'world_string', data_type=str,
+        model_string = entity.get_attr(
+            'model_string', data_type=str,
             optional=True)
 
         topic = entity.get_attr(
@@ -142,9 +142,9 @@ def parse(cls, entity: Entity, parser: Parser):
             file = parser.parse_substitution(file)
             kwargs['file'] = file
 
-        if isinstance(world_string, str):
-            world_string = parser.parse_substitution(world_string)
-            kwargs['world_string'] = world_string
+        if isinstance(model_string, str):
+            model_string = parser.parse_substitution(model_string)
+            kwargs['model_string'] = model_string
 
         if isinstance(topic, str):
             topic = parser.parse_substitution(topic)
@@ -193,7 +193,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
                                        'gz_spawn_model.launch.py'])]),
             launch_arguments=[('world', self.__world),
                               ('file', self.__file),
-                              ('world_string',   self.__world_string),
+                              ('model_string',   self.__model_string),
                               ('topic',  self.__topic),
                               ('entity_name', self.__entity_name),
                               ('allow_renaming', self.__allow_renaming),