Remove default_value for required arguments

ros_gz_bridge/launch/ros_gz_bridge.launch

@@ -1,6 +1,6 @@
 <launch>
   <arg name="bridge_name" />
-  <arg name="config_file" default="" />
+  <arg name="config_file" />
   <arg name="container_name" default="ros_gz_container" />
   <arg name="namespace" default="" />
   <arg name="use_composition" default="True" />

ros_gz_bridge/launch/ros_gz_bridge.launch.py

@@ -37,7 +37,7 @@ def generate_launch_description():
     )
 
     declare_config_file_cmd = DeclareLaunchArgument(
-        'config_file', default_value='', description='YAML config file'
+        'config_file', description='YAML config file'
     )
 
     declare_container_name_cmd = DeclareLaunchArgument(

ros_gz_sim/launch/gz_spawn_model.launch

@@ -1,7 +1,7 @@
 <launch>
   <arg name="world" default="" />
   <arg name="file" default="" />
-  <arg name="xml_string" default="" />
+  <arg name="world_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)"
-    xml_string="$(var xml_string)"
+    world_string="$(var world_string)"
     topic="$(var topic)"
     entity_name="$(var entity_name)"
     allow_renaming="$(var allow_renaming)"

ros_gz_sim/launch/gz_spawn_model.launch.py

@@ -24,7 +24,7 @@ def generate_launch_description():
 
     world = LaunchConfiguration('world')
     file = LaunchConfiguration('file')
-    xml_string = LaunchConfiguration('string')
+    world_string = LaunchConfiguration('world_string')
     topic = LaunchConfiguration('topic')
     entity_name = LaunchConfiguration('entity_name')
     allow_renaming = LaunchConfiguration('allow_renaming')
@@ -41,8 +41,8 @@ def generate_launch_description():
     declare_file_cmd = DeclareLaunchArgument(
         'file', default_value=TextSubstitution(text=''),
         description='SDF filename')
-    declare_xml_string_cmd = DeclareLaunchArgument(
-        'string',
+    declare_world_string_cmd = DeclareLaunchArgument(
+        'world_string',
         default_value='',
         description='XML string',
     )
@@ -65,7 +65,7 @@ def generate_launch_description():
         output='screen',
         parameters=[{'world': world,
                      'file': file,
-                     'string': xml_string,
+                     'string': world_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_xml_string_cmd)
+    ld.add_action(declare_world_string_cmd)
     ld.add_action(declare_topic_cmd)
     ld.add_action(declare_entity_name_cmd)
     ld.add_action(declare_allow_renaming_cmd)

ros_gz_sim/launch/ros_gz_sim.launch

@@ -1,6 +1,6 @@
 <launch>
   <arg name="bridge_name" />
-  <arg name="config_file" default="" />
+  <arg name="config_file" />
   <arg name="container_name" default="ros_gz_container" />
   <arg name="namespace" default="" />
   <arg name="use_composition" default="True" />

ros_gz_sim/launch/ros_gz_sim.launch.py

@@ -35,11 +35,11 @@ def generate_launch_description():
     world_sdf_string = LaunchConfiguration('world_sdf_string')
 
     declare_bridge_name_cmd = DeclareLaunchArgument(
-        'bridge_name', default_value='', description='Name of the bridge'
+        'bridge_name', description='Name of the bridge'
     )
 
     declare_config_file_cmd = DeclareLaunchArgument(
-        'config_file', default_value='', description='YAML config file'
+        'config_file', description='YAML config file'
     )
 
     declare_container_name_cmd = DeclareLaunchArgument(

ros_gz_sim/launch/ros_gz_spawn_model.launch.py

@@ -33,7 +33,7 @@ def generate_launch_description():
 
     world = LaunchConfiguration('world')
     file = LaunchConfiguration('file')
-    xml_string = LaunchConfiguration('string')
+    world_string = LaunchConfiguration('world_string')
     topic = LaunchConfiguration('topic')
     entity_name = LaunchConfiguration('entity_name')
     allow_renaming = LaunchConfiguration('allow_renaming')
@@ -45,11 +45,11 @@ def generate_launch_description():
     yaw = LaunchConfiguration('Y', default='0.0')
 
     declare_bridge_name_cmd = DeclareLaunchArgument(
-        'bridge_name', default_value='', description='Name of the bridge'
+        'bridge_name', description='Name of the bridge'
     )
 
     declare_config_file_cmd = DeclareLaunchArgument(
-        'config_file', default_value='', description='YAML config file'
+        'config_file', description='YAML config file'
     )
 
     declare_container_name_cmd = DeclareLaunchArgument(
@@ -84,8 +84,8 @@ def generate_launch_description():
         'file', default_value=TextSubstitution(text=''),
         description='SDF filename')
 
-    declare_xml_string_cmd = DeclareLaunchArgument(
-        'string',
+    declare_world_string_cmd = DeclareLaunchArgument(
+        'world_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),
-                          ('xml_string', xml_string),
+                          ('world_string', world_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_xml_string_cmd)
+    ld.add_action(declare_world_string_cmd)
     ld.add_action(declare_topic_cmd)
     ld.add_action(declare_entity_name_cmd)
     ld.add_action(declare_allow_renaming_cmd)

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,
-        xml_string: Optional[SomeSubstitutionsType] = None,
+        world_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: xml_string XML string.
+        :param: world_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.__xml_string = xml_string
+        self.__world_string = world_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)
 
-        xml_string = entity.get_attr(
-            'xml_string', data_type=str,
+        world_string = entity.get_attr(
+            'world_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(xml_string, str):
-            xml_string = parser.parse_substitution(xml_string)
-            kwargs['xml_string'] = xml_string
+        if isinstance(world_string, str):
+            world_string = parser.parse_substitution(world_string)
+            kwargs['world_string'] = world_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),
-                              ('xml_string',   self.__xml_string),
+                              ('world_string',   self.__world_string),
                               ('topic',  self.__topic),
                               ('entity_name', self.__entity_name),
                               ('allow_renaming', self.__allow_renaming),