From b620114ce087ebef456540ef9621d52b5b801aa4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Thu, 17 Oct 2024 21:25:59 +0200
Subject: [PATCH] Fix ros_gz_sim.launch.py when create_own_container is
 enabled.
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Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 ros_gz_sim/launch/ros_gz_sim.launch.py | 27 +++++++++++++-------------
 1 file changed, 14 insertions(+), 13 deletions(-)

diff --git a/ros_gz_sim/launch/ros_gz_sim.launch.py b/ros_gz_sim/launch/ros_gz_sim.launch.py
index ad32e801..aba047ee 100644
--- a/ros_gz_sim/launch/ros_gz_sim.launch.py
+++ b/ros_gz_sim/launch/ros_gz_sim.launch.py
@@ -83,6 +83,17 @@ def generate_launch_description():
         description='SDF world string'
     )
 
+    gz_server_description = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
+                                   'launch',
+                                   'gz_server.launch.py'])]),
+        launch_arguments=[('world_sdf_file', world_sdf_file),
+                          ('world_sdf_string', world_sdf_string),
+                          ('container_name', container_name),
+                          ('create_own_container', create_own_container),
+                          ('use_composition', use_composition), ])
+
     bridge_description = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [PathJoinSubstitution([FindPackageShare('ros_gz_bridge'),
@@ -92,20 +103,10 @@ def generate_launch_description():
                           ('config_file', config_file),
                           ('container_name', container_name),
                           ('namespace', namespace),
+                          ('create_own_container', str(False)),
                           ('use_composition', use_composition),
                           ('use_respawn', use_respawn),
-                          ('bridge_log_level', bridge_log_level)])
-
-    gz_server_description = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
-                                   'launch',
-                                   'gz_server.launch.py'])]),
-        launch_arguments=[('world_sdf_file', world_sdf_file),
-                          ('world_sdf_string', world_sdf_string),
-                          ('container_name', container_name),
-                          ('create_own_container', create_own_container),
-                          ('use_composition', use_composition), ])
+                          ('bridge_log_level', bridge_log_level), ])
 
     # Create the launch description and populate
     ld = LaunchDescription()
@@ -122,7 +123,7 @@ def generate_launch_description():
     ld.add_action(declare_world_sdf_file_cmd)
     ld.add_action(declare_world_sdf_string_cmd)
     # Add the actions to launch all of the bridge + gz_server nodes
-    ld.add_action(bridge_description)
     ld.add_action(gz_server_description)
+    ld.add_action(bridge_description)
 
     return ld