From 9bcefd2d4dbbb18cb4a9936208dc78fb9b258fc7 Mon Sep 17 00:00:00 2001
From: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
Date: Fri, 6 Sep 2024 04:22:04 +0000
Subject: [PATCH 1/9] Remove default_value for config_file

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

diff --git a/ros_gz_sim/launch/ros_gz_sim.launch.py b/ros_gz_sim/launch/ros_gz_sim.launch.py
index d0a68835..3f6690d2 100644
--- a/ros_gz_sim/launch/ros_gz_sim.launch.py
+++ b/ros_gz_sim/launch/ros_gz_sim.launch.py
@@ -34,7 +34,7 @@ def generate_launch_description():
     world_sdf_string = LaunchConfiguration('world_sdf_string')
 
     declare_config_file_cmd = DeclareLaunchArgument(
-        'config_file', default_value='', description='YAML config file'
+        'config_file', description='YAML config file'
     )
 
     declare_container_name_cmd = DeclareLaunchArgument(
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 87dcb248..20e83bd7 100644
--- a/ros_gz_sim/launch/ros_gz_spawn_model.launch.py
+++ b/ros_gz_sim/launch/ros_gz_spawn_model.launch.py
@@ -44,7 +44,7 @@ def generate_launch_description():
     yaw = LaunchConfiguration('Y', default='0.0')
 
     declare_config_file_cmd = DeclareLaunchArgument(
-        'config_file', default_value='', description='YAML config file'
+        'config_file', description='YAML config file'
     )
 
     declare_container_name_cmd = DeclareLaunchArgument(

From c130c910b8f3d4295c8defa974b184486780c857 Mon Sep 17 00:00:00 2001
From: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
Date: Fri, 6 Sep 2024 10:34:43 +0000
Subject: [PATCH 2/9] Update ros_gz_sim.launch

Signed-off-by: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
---
 ros_gz_sim/launch/ros_gz_sim.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ros_gz_sim/launch/ros_gz_sim.launch b/ros_gz_sim/launch/ros_gz_sim.launch
index cc6b04fc..88194102 100644
--- a/ros_gz_sim/launch/ros_gz_sim.launch
+++ b/ros_gz_sim/launch/ros_gz_sim.launch
@@ -1,6 +1,6 @@
 <launch>
   <arg name="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" />

From 9ed56137a66607fd5eb2a17320c9d6671ff2af00 Mon Sep 17 00:00:00 2001
From: Amronos <134804732+Amronos@users.noreply.github.com>
Date: Fri, 6 Sep 2024 23:20:47 +0530
Subject: [PATCH 3/9] Fix errors with name of bridge not being given (#600)

* Add argument bridge_name to fix errors

Signed-off-by: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
---
 ros_gz_bridge/launch/ros_gz_bridge.launch     |  4 ++--
 ros_gz_bridge/launch/ros_gz_bridge.launch.py  | 12 +++++-----
 .../ros_gz_bridge/actions/ros_gz_bridge.py    | 18 +++++++--------
 ros_gz_sim/launch/gz_spawn_model.launch       |  4 ++--
 ros_gz_sim/launch/gz_spawn_model.launch.py    | 10 ++++-----
 ros_gz_sim/launch/ros_gz_sim.launch           |  6 ++---
 ros_gz_sim/launch/ros_gz_sim.launch.py        |  9 +++++++-
 .../launch/ros_gz_spawn_model.launch.py       | 22 ++++++++++++-------
 .../ros_gz_sim/actions/gz_spawn_model.py      | 18 +++++++--------
 9 files changed, 58 insertions(+), 45 deletions(-)

diff --git a/ros_gz_bridge/launch/ros_gz_bridge.launch b/ros_gz_bridge/launch/ros_gz_bridge.launch
index 80004a26..d7b738ed 100644
--- a/ros_gz_bridge/launch/ros_gz_bridge.launch
+++ b/ros_gz_bridge/launch/ros_gz_bridge.launch
@@ -1,5 +1,5 @@
 <launch>
-  <arg name="name" />
+  <arg name="bridge_name" />
   <arg name="config_file" default="" />
   <arg name="container_name" default="ros_gz_container" />
   <arg name="namespace" default="" />
@@ -7,7 +7,7 @@
   <arg name="use_respawn" default="False" />
   <arg name="log_level" default="info" />
   <ros_gz_bridge
-    name="$(var name)"
+    bridge_name="$(var bridge_name)"
     config_file="$(var config_file)"
     container_name="$(var container_name)"
     namespace="$(var namespace)"
diff --git a/ros_gz_bridge/launch/ros_gz_bridge.launch.py b/ros_gz_bridge/launch/ros_gz_bridge.launch.py
index 397816d1..37320fa7 100644
--- a/ros_gz_bridge/launch/ros_gz_bridge.launch.py
+++ b/ros_gz_bridge/launch/ros_gz_bridge.launch.py
@@ -24,7 +24,7 @@
 
 def generate_launch_description():
 
-    name = LaunchConfiguration('name')
+    bridge_name = LaunchConfiguration('bridge_name')
     config_file = LaunchConfiguration('config_file')
     container_name = LaunchConfiguration('container_name')
     namespace = LaunchConfiguration('namespace')
@@ -32,8 +32,8 @@ def generate_launch_description():
     use_respawn = LaunchConfiguration('use_respawn')
     log_level = LaunchConfiguration('log_level')
 
-    declare_name_cmd = DeclareLaunchArgument(
-        'name', description='Name of ros_gz_bridge node'
+    declare_bridge_name_cmd = DeclareLaunchArgument(
+        'bridge_name', description='Name of ros_gz_bridge node'
     )
 
     declare_config_file_cmd = DeclareLaunchArgument(
@@ -70,7 +70,7 @@ def generate_launch_description():
             Node(
                 package='ros_gz_bridge',
                 executable='bridge_node',
-                name=name,
+                name=bridge_name,
                 namespace=namespace,
                 output='screen',
                 respawn=use_respawn,
@@ -88,7 +88,7 @@ def generate_launch_description():
             ComposableNode(
                 package='ros_gz_bridge',
                 plugin='ros_gz_bridge::RosGzBridge',
-                name=name,
+                name=bridge_name,
                 namespace=namespace,
                 parameters=[{'config_file': config_file}],
                 extra_arguments=[{'use_intra_process_comms': True}],
@@ -100,7 +100,7 @@ def generate_launch_description():
     ld = LaunchDescription()
 
     # Declare the launch options
-    ld.add_action(declare_name_cmd)
+    ld.add_action(declare_bridge_name_cmd)
     ld.add_action(declare_config_file_cmd)
     ld.add_action(declare_container_name_cmd)
     ld.add_action(declare_namespace_cmd)
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
index 6d7f1395..9d875893 100644
--- a/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py
+++ b/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py
@@ -34,7 +34,7 @@ class RosGzBridge(Action):
     def __init__(
         self,
         *,
-        name: SomeSubstitutionsType,
+        bridge_name: SomeSubstitutionsType,
         config_file: SomeSubstitutionsType,
         container_name: Optional[SomeSubstitutionsType] = 'ros_gz_container',
         namespace: Optional[SomeSubstitutionsType] = '',
@@ -49,7 +49,7 @@ def __init__(
         All arguments are forwarded to `ros_gz_bridge.launch.ros_gz_bridge.launch.py`,
         so see the documentation of that class for further details.
 
-        :param: name Name of ros_gz_bridge  node
+        :param: bridge_name Name of ros_gz_bridge  node
         :param: config_file YAML config file.
         :param: container_name Name of container that nodes will load in if use composition.
         :param: namespace Top-level namespace.
@@ -58,7 +58,7 @@ def __init__(
         :param: log_level Log level.
         """
         super().__init__(**kwargs)
-        self.__name = name
+        self.__bridge_name = bridge_name
         self.__config_file = config_file
         self.__container_name = container_name
         self.__namespace = namespace
@@ -71,8 +71,8 @@ def parse(cls, entity: Entity, parser: Parser):
         """Parse ros_gz_bridge."""
         _, kwargs = super().parse(entity, parser)
 
-        name = entity.get_attr(
-            'name', data_type=str,
+        bridge_name = entity.get_attr(
+            'bridge_name', data_type=str,
             optional=False)
 
         config_file = entity.get_attr(
@@ -99,9 +99,9 @@ def parse(cls, entity: Entity, parser: Parser):
             'log_level', data_type=str,
             optional=True)
 
-        if isinstance(name, str):
-            name = parser.parse_substitution(name)
-            kwargs['name'] = name
+        if isinstance(bridge_name, str):
+            bridge_name = parser.parse_substitution(bridge_name)
+            kwargs['bridge_name'] = bridge_name
 
         if isinstance(config_file, str):
             config_file = parser.parse_substitution(config_file)
@@ -136,7 +136,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
                 [PathJoinSubstitution([FindPackageShare('ros_gz_bridge'),
                                        'launch',
                                        'ros_gz_bridge.launch.py'])]),
-            launch_arguments=[('name', self.__name),
+            launch_arguments=[('bridge_name', self.__bridge_name),
                               ('config_file', self.__config_file),
                               ('container_name', self.__container_name),
                               ('namespace',   self.__namespace),
diff --git a/ros_gz_sim/launch/gz_spawn_model.launch b/ros_gz_sim/launch/gz_spawn_model.launch
index 3f289048..c19c25cd 100644
--- a/ros_gz_sim/launch/gz_spawn_model.launch
+++ b/ros_gz_sim/launch/gz_spawn_model.launch
@@ -3,7 +3,7 @@
   <arg name="file" default="" />
   <arg name="xml_string" default="" />
   <arg name="topic" default="" />
-  <arg name="name" default="" />
+  <arg name="entity_name" default="" />
   <arg name="allow_renaming" default="False" />
   <arg name="x" default="" />
   <arg name="y" default="" />
@@ -16,7 +16,7 @@
     file="$(var file)"
     xml_string="$(var xml_string)"
     topic="$(var topic)"
-    name="$(var name)"
+    entity_name="$(var entity_name)"
     allow_renaming="$(var allow_renaming)"
     x="$(var x)"
     y="$(var y)"
diff --git a/ros_gz_sim/launch/gz_spawn_model.launch.py b/ros_gz_sim/launch/gz_spawn_model.launch.py
index 59cb4361..456e35e7 100644
--- a/ros_gz_sim/launch/gz_spawn_model.launch.py
+++ b/ros_gz_sim/launch/gz_spawn_model.launch.py
@@ -26,7 +26,7 @@ def generate_launch_description():
     file = LaunchConfiguration('file')
     xml_string = LaunchConfiguration('string')
     topic = LaunchConfiguration('topic')
-    name = LaunchConfiguration('name')
+    entity_name = LaunchConfiguration('entity_name')
     allow_renaming = LaunchConfiguration('allow_renaming')
     x = LaunchConfiguration('x', default='0.0')
     y = LaunchConfiguration('y', default='0.0')
@@ -50,8 +50,8 @@ def generate_launch_description():
         'topic', default_value=TextSubstitution(text=''),
         description='Get XML from this topic'
     )
-    declare_name_cmd = DeclareLaunchArgument(
-        'name', default_value=TextSubstitution(text=''),
+    declare_entity_name_cmd = DeclareLaunchArgument(
+        'entity_name', default_value=TextSubstitution(text=''),
         description='Name of the entity'
     )
     declare_allow_renaming_cmd = DeclareLaunchArgument(
@@ -67,7 +67,7 @@ def generate_launch_description():
                      'file': file,
                      'string': xml_string,
                      'topic': topic,
-                     'name': name,
+                     'name': entity_name,
                      'allow_renaming': allow_renaming,
                      'x': x,
                      'y': y,
@@ -86,7 +86,7 @@ def generate_launch_description():
     ld.add_action(declare_file_cmd)
     ld.add_action(declare_xml_string_cmd)
     ld.add_action(declare_topic_cmd)
-    ld.add_action(declare_name_cmd)
+    ld.add_action(declare_entity_name_cmd)
     ld.add_action(declare_allow_renaming_cmd)
     # Add the actions to launch all of the create nodes
     ld.add_action(load_nodes)
diff --git a/ros_gz_sim/launch/ros_gz_sim.launch b/ros_gz_sim/launch/ros_gz_sim.launch
index 88194102..7aef6af4 100644
--- a/ros_gz_sim/launch/ros_gz_sim.launch
+++ b/ros_gz_sim/launch/ros_gz_sim.launch
@@ -1,6 +1,6 @@
 <launch>
-  <arg name="name" />
-  <arg name="config_file" />
+  <arg name="bridge_name" />
+  <arg name="config_file" default="" />
   <arg name="container_name" default="ros_gz_container" />
   <arg name="namespace" default="" />
   <arg name="use_composition" default="True" />
@@ -15,7 +15,7 @@
     use_composition="$(var use_composition)">
   </gz_server>
   <ros_gz_bridge
-    name="$(var name)"
+    bridge_name="$(var bridge_name)"
     config_file="$(var config_file)"
     container_name="$(var container_name)"
     namespace="$(var namespace)"
diff --git a/ros_gz_sim/launch/ros_gz_sim.launch.py b/ros_gz_sim/launch/ros_gz_sim.launch.py
index 3f6690d2..8655ef0b 100644
--- a/ros_gz_sim/launch/ros_gz_sim.launch.py
+++ b/ros_gz_sim/launch/ros_gz_sim.launch.py
@@ -23,6 +23,7 @@
 
 def generate_launch_description():
 
+    bridge_name = LaunchConfiguration('bridge_name')
     config_file = LaunchConfiguration('config_file')
     container_name = LaunchConfiguration('container_name')
     namespace = LaunchConfiguration('namespace')
@@ -33,6 +34,10 @@ def generate_launch_description():
     world_sdf_file = LaunchConfiguration('world_sdf_file')
     world_sdf_string = LaunchConfiguration('world_sdf_string')
 
+    declare_bridge_name_cmd = DeclareLaunchArgument(
+        'bridge_name', default_value='', description='Name of the bridge'
+    )
+
     declare_config_file_cmd = DeclareLaunchArgument(
         'config_file', description='YAML config file'
     )
@@ -76,7 +81,8 @@ def generate_launch_description():
             [PathJoinSubstitution([FindPackageShare('ros_gz_bridge'),
                                    'launch',
                                    'ros_gz_bridge.launch.py'])]),
-        launch_arguments=[('config_file', config_file),
+        launch_arguments=[('bridge_name', bridge_name),
+                          ('config_file', config_file),
                           ('container_name', container_name),
                           ('namespace', namespace),
                           ('use_composition', use_composition),
@@ -96,6 +102,7 @@ def generate_launch_description():
     ld = LaunchDescription()
 
     # Declare the launch options
+    ld.add_action(declare_bridge_name_cmd)
     ld.add_action(declare_config_file_cmd)
     ld.add_action(declare_container_name_cmd)
     ld.add_action(declare_namespace_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 20e83bd7..d28cee51 100644
--- a/ros_gz_sim/launch/ros_gz_spawn_model.launch.py
+++ b/ros_gz_sim/launch/ros_gz_spawn_model.launch.py
@@ -23,6 +23,7 @@
 
 def generate_launch_description():
 
+    bridge_name = LaunchConfiguration('bridge_name')
     config_file = LaunchConfiguration('config_file')
     container_name = LaunchConfiguration('container_name')
     namespace = LaunchConfiguration('namespace')
@@ -34,7 +35,7 @@ def generate_launch_description():
     file = LaunchConfiguration('file')
     xml_string = LaunchConfiguration('string')
     topic = LaunchConfiguration('topic')
-    name = LaunchConfiguration('name')
+    entity_name = LaunchConfiguration('entity_name')
     allow_renaming = LaunchConfiguration('allow_renaming')
     x = LaunchConfiguration('x', default='0.0')
     y = LaunchConfiguration('y', default='0.0')
@@ -43,6 +44,10 @@ def generate_launch_description():
     pitch = LaunchConfiguration('P', default='0.0')
     yaw = LaunchConfiguration('Y', default='0.0')
 
+    declare_bridge_name_cmd = DeclareLaunchArgument(
+        'bridge_name', default_value='', description='Name of the bridge'
+    )
+
     declare_config_file_cmd = DeclareLaunchArgument(
         'config_file', description='YAML config file'
     )
@@ -90,8 +95,8 @@ def generate_launch_description():
         description='Get XML from this topic'
     )
 
-    declare_name_cmd = DeclareLaunchArgument(
-        'name', default_value=TextSubstitution(text=''),
+    declare_entity_name_cmd = DeclareLaunchArgument(
+        'entity_name', default_value=TextSubstitution(text=''),
         description='Name of the entity'
     )
 
@@ -105,7 +110,8 @@ def generate_launch_description():
             [PathJoinSubstitution([FindPackageShare('ros_gz_bridge'),
                                    'launch',
                                    'ros_gz_bridge.launch.py'])]),
-        launch_arguments=[('config_file', config_file),
+        launch_arguments=[('bridge_name', bridge_name),
+                          ('config_file', config_file),
                           ('container_name', container_name),
                           ('namespace', namespace),
                           ('use_composition', use_composition),
@@ -121,20 +127,20 @@ def generate_launch_description():
                           ('file', file),
                           ('xml_string', xml_string),
                           ('topic', topic),
-                          ('name', name),
+                          ('entity_name', entity_name),
                           ('allow_renaming', allow_renaming),
                           ('x', x),
                           ('y', y),
                           ('z', z),
                           ('R', roll),
                           ('P', pitch),
-                          ('Y', yaw),
-                          ('use_composition', use_composition), ])
+                          ('Y', yaw), ])
 
     # Create the launch description and populate
     ld = LaunchDescription()
 
     # Declare the launch options
+    ld.add_action(declare_bridge_name_cmd)
     ld.add_action(declare_config_file_cmd)
     ld.add_action(declare_container_name_cmd)
     ld.add_action(declare_namespace_cmd)
@@ -145,7 +151,7 @@ def generate_launch_description():
     ld.add_action(declare_file_cmd)
     ld.add_action(declare_xml_string_cmd)
     ld.add_action(declare_topic_cmd)
-    ld.add_action(declare_name_cmd)
+    ld.add_action(declare_entity_name_cmd)
     ld.add_action(declare_allow_renaming_cmd)
     # Add the actions to launch all of the bridge + spawn_model nodes
     ld.add_action(bridge_description)
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 7626eb01..0eeae015 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
@@ -38,7 +38,7 @@ def __init__(
         file: Optional[SomeSubstitutionsType] = None,
         xml_string: Optional[SomeSubstitutionsType] = None,
         topic: Optional[SomeSubstitutionsType] = None,
-        name: Optional[SomeSubstitutionsType] = None,
+        entity_name: Optional[SomeSubstitutionsType] = None,
         allow_renaming: Optional[SomeSubstitutionsType] = None,
         x: Optional[SomeSubstitutionsType] = None,
         y: Optional[SomeSubstitutionsType] = None,
@@ -58,7 +58,7 @@ def __init__(
         :param: file SDF filename.
         :param: xml_string XML string.
         :param: topic Get XML from this topic.
-        :param: name Name of the entity.
+        :param: entity_name Name of the entity.
         :param: allow_renaming Whether the entity allows renaming or not.
         :param: x X coordinate.
         :param: y Y coordinate.
@@ -72,7 +72,7 @@ def __init__(
         self.__file = file
         self.__xml_string = xml_string
         self.__topic = topic
-        self.__name = name
+        self.__entity_name = entity_name
         self.__allow_renaming = allow_renaming
         self.__x = x
         self.__y = y
@@ -102,8 +102,8 @@ def parse(cls, entity: Entity, parser: Parser):
             'topic', data_type=str,
             optional=True)
 
-        name = entity.get_attr(
-            'name', data_type=str,
+        entity_name = entity.get_attr(
+            'entity_name', data_type=str,
             optional=True)
 
         allow_renaming = entity.get_attr(
@@ -150,9 +150,9 @@ def parse(cls, entity: Entity, parser: Parser):
             topic = parser.parse_substitution(topic)
             kwargs['topic'] = topic
 
-        if isinstance(name, str):
-            name = parser.parse_substitution(name)
-            kwargs['name'] = name
+        if isinstance(entity_name, str):
+            entity_name = parser.parse_substitution(entity_name)
+            kwargs['entity_name'] = entity_name
 
         if isinstance(allow_renaming, str):
             allow_renaming = parser.parse_substitution(allow_renaming)
@@ -195,7 +195,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
                               ('file', self.__file),
                               ('xml_string',   self.__xml_string),
                               ('topic',  self.__topic),
-                              ('name', self.__name),
+                              ('entity_name', self.__entity_name),
                               ('allow_renaming', self.__allow_renaming),
                               ('x',   self.__x),
                               ('y',  self.__y),

From e9fac33993a7d62633b586b020745180c4260fe1 Mon Sep 17 00:00:00 2001
From: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
Date: Sat, 7 Sep 2024 03:17:16 +0000
Subject: [PATCH 4/9] Remove default values for config_file and bridge_name

Signed-off-by: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
---
 ros_gz_bridge/launch/ros_gz_bridge.launch      | 2 +-
 ros_gz_bridge/launch/ros_gz_bridge.launch.py   | 2 +-
 ros_gz_sim/launch/ros_gz_sim.launch            | 2 +-
 ros_gz_sim/launch/ros_gz_sim.launch.py         | 2 +-
 ros_gz_sim/launch/ros_gz_spawn_model.launch.py | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/ros_gz_bridge/launch/ros_gz_bridge.launch b/ros_gz_bridge/launch/ros_gz_bridge.launch
index d7b738ed..f4db1e4f 100644
--- a/ros_gz_bridge/launch/ros_gz_bridge.launch
+++ b/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" />
diff --git a/ros_gz_bridge/launch/ros_gz_bridge.launch.py b/ros_gz_bridge/launch/ros_gz_bridge.launch.py
index 37320fa7..efaa9925 100644
--- a/ros_gz_bridge/launch/ros_gz_bridge.launch.py
+++ b/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(
diff --git a/ros_gz_sim/launch/ros_gz_sim.launch b/ros_gz_sim/launch/ros_gz_sim.launch
index 7aef6af4..7a024066 100644
--- a/ros_gz_sim/launch/ros_gz_sim.launch
+++ b/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" />
diff --git a/ros_gz_sim/launch/ros_gz_sim.launch.py b/ros_gz_sim/launch/ros_gz_sim.launch.py
index 8655ef0b..4f5f7e80 100644
--- a/ros_gz_sim/launch/ros_gz_sim.launch.py
+++ b/ros_gz_sim/launch/ros_gz_sim.launch.py
@@ -35,7 +35,7 @@ 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(
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 d28cee51..8e7593e9 100644
--- a/ros_gz_sim/launch/ros_gz_spawn_model.launch.py
+++ b/ros_gz_sim/launch/ros_gz_spawn_model.launch.py
@@ -45,7 +45,7 @@ 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(

From 59e9fe64f1f76c01f0a1e6288c3b22e6861fd9df Mon Sep 17 00:00:00 2001
From: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
Date: Sun, 8 Sep 2024 09:24:43 +0000
Subject: [PATCH 5/9] Change xml_string to string

Signed-off-by: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
---
 ros_gz_sim/launch/gz_spawn_model.launch.py     | 8 ++++----
 ros_gz_sim/launch/ros_gz_spawn_model.launch.py | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/ros_gz_sim/launch/gz_spawn_model.launch.py b/ros_gz_sim/launch/gz_spawn_model.launch.py
index 456e35e7..59b60e65 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')
-    xml_string = LaunchConfiguration('string')
+    string = LaunchConfiguration('string')
     topic = LaunchConfiguration('topic')
     entity_name = LaunchConfiguration('entity_name')
     allow_renaming = LaunchConfiguration('allow_renaming')
@@ -41,7 +41,7 @@ def generate_launch_description():
     declare_file_cmd = DeclareLaunchArgument(
         'file', default_value=TextSubstitution(text=''),
         description='SDF filename')
-    declare_xml_string_cmd = DeclareLaunchArgument(
+    declare_string_cmd = DeclareLaunchArgument(
         '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': 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_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 8e7593e9..c8cd6691 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')
-    xml_string = LaunchConfiguration('string')
+    string = LaunchConfiguration('string')
     topic = LaunchConfiguration('topic')
     entity_name = LaunchConfiguration('entity_name')
     allow_renaming = LaunchConfiguration('allow_renaming')
@@ -84,7 +84,7 @@ def generate_launch_description():
         'file', default_value=TextSubstitution(text=''),
         description='SDF filename')
 
-    declare_xml_string_cmd = DeclareLaunchArgument(
+    declare_string_cmd = DeclareLaunchArgument(
         '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),
+                          ('string', 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_string_cmd)
     ld.add_action(declare_topic_cmd)
     ld.add_action(declare_entity_name_cmd)
     ld.add_action(declare_allow_renaming_cmd)

From b8c55b048ba904e1fc704944cd7f4889f4f78396 Mon Sep 17 00:00:00 2001
From: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
Date: Sun, 8 Sep 2024 09:32:27 +0000
Subject: [PATCH 6/9] Change xml_string to string in actions

Signed-off-by: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
---
 .../ros_gz_sim/actions/gz_spawn_model.py       | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

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 0eeae015..5e402032 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,
-        xml_string: Optional[SomeSubstitutionsType] = None,
+        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: 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.__string = 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,
+        string = entity.get_attr(
+            '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(string, str):
+            string = parser.parse_substitution(string)
+            kwargs['string'] = 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),
+                              ('string',   self.__string),
                               ('topic',  self.__topic),
                               ('entity_name', self.__entity_name),
                               ('allow_renaming', self.__allow_renaming),

From 385d6c36fac258c9fb721d549185b04339f454ea Mon Sep 17 00:00:00 2001
From: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
Date: Mon, 9 Sep 2024 16:21:10 +0000
Subject: [PATCH 7/9] Change string and xml_string to 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     | 10 +++++-----
 ros_gz_sim/launch/ros_gz_spawn_model.launch.py | 10 +++++-----
 .../ros_gz_sim/actions/gz_spawn_model.py       | 18 +++++++++---------
 4 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/ros_gz_sim/launch/gz_spawn_model.launch b/ros_gz_sim/launch/gz_spawn_model.launch
index c19c25cd..cdf7e261 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="xml_string" default="" />
+  <arg name="sdf_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="$(var xml_string)"
+    sdf_string="$(var sdf_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 59b60e65..ced0412b 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')
-    string = LaunchConfiguration('string')
+    sdf_string = LaunchConfiguration('sdf_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_string_cmd = DeclareLaunchArgument(
-        'string',
+    declare_sdf_string_cmd = DeclareLaunchArgument(
+        'sdf_string',
         default_value='',
         description='XML string',
     )
@@ -65,7 +65,7 @@ def generate_launch_description():
         output='screen',
         parameters=[{'world': world,
                      'file': file,
-                     'string': string,
+                     'sdf_string': sdf_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_string_cmd)
+    ld.add_action(declare_sdf_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 c8cd6691..43afa00d 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')
-    string = LaunchConfiguration('string')
+    sdf_string = LaunchConfiguration('sdf_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_string_cmd = DeclareLaunchArgument(
-        'string',
+    declare_sdf_string_cmd = DeclareLaunchArgument(
+        'sdf_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),
-                          ('string', string),
+                          ('sdf_string', sdf_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_string_cmd)
+    ld.add_action(declare_sdf_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 5e402032..5ce90174 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,
-        string: Optional[SomeSubstitutionsType] = None,
+        sdf_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: string XML string.
+        :param: sdf_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.__string = string
+        self.__sdf_string = sdf_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)
 
-        string = entity.get_attr(
-            'string', data_type=str,
+        sdf_string = entity.get_attr(
+            'sdf_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(string, str):
-            string = parser.parse_substitution(string)
-            kwargs['string'] = string
+        if isinstance(sdf_string, str):
+            sdf_string = parser.parse_substitution(sdf_string)
+            kwargs['sdf_string'] = sdf_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),
-                              ('string',   self.__string),
+                              ('sdf_string',   self.__sdf_string),
                               ('topic',  self.__topic),
                               ('entity_name', self.__entity_name),
                               ('allow_renaming', self.__allow_renaming),

From 4998bb663c36cdc6b631f217c28e02d621c896fe Mon Sep 17 00:00:00 2001
From: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
Date: Mon, 9 Sep 2024 16:53:02 +0000
Subject: [PATCH 8/9] Change sdf_string to world_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      | 10 +++++-----
 ros_gz_sim/launch/ros_gz_spawn_model.launch.py  | 10 +++++-----
 ros_gz_sim/ros_gz_sim/actions/gz_spawn_model.py | 16 ++++++++--------
 4 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/ros_gz_sim/launch/gz_spawn_model.launch b/ros_gz_sim/launch/gz_spawn_model.launch
index cdf7e261..a132ae08 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="sdf_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)"
-    sdf_string="$(var sdf_string)"
+    world_string="$(var world_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 ced0412b..65bd7c9f 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')
-    sdf_string = LaunchConfiguration('sdf_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_sdf_string_cmd = DeclareLaunchArgument(
-        'sdf_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,
-                     'sdf_string': sdf_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_sdf_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)
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 43afa00d..245edbeb 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')
-    sdf_string = LaunchConfiguration('sdf_string')
+    world_string = LaunchConfiguration('world_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_sdf_string_cmd = DeclareLaunchArgument(
-        'sdf_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),
-                          ('sdf_string', sdf_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_sdf_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)
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 5ce90174..eb467a00 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,
-        sdf_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: sdf_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.__sdf_string = sdf_string
+        self.__world_string = world_string
         self.__topic = topic
         self.__entity_name = entity_name
         self.__allow_renaming = allow_renaming
@@ -94,7 +94,7 @@ def parse(cls, entity: Entity, parser: Parser):
             'file', data_type=str,
             optional=True)
 
-        sdf_string = entity.get_attr(
+        world_string = entity.get_attr(
             'sdf_string', data_type=str,
             optional=True)
 
@@ -142,9 +142,9 @@ def parse(cls, entity: Entity, parser: Parser):
             file = parser.parse_substitution(file)
             kwargs['file'] = file
 
-        if isinstance(sdf_string, str):
-            sdf_string = parser.parse_substitution(sdf_string)
-            kwargs['sdf_string'] = sdf_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),
-                              ('sdf_string',   self.__sdf_string),
+                              ('world_string',   self.__world_string),
                               ('topic',  self.__topic),
                               ('entity_name', self.__entity_name),
                               ('allow_renaming', self.__allow_renaming),

From 874feffe8c94d8a5b7878dfd0090fe8827d50ac1 Mon Sep 17 00:00:00 2001
From: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
Date: Mon, 9 Sep 2024 16:59:26 +0000
Subject: [PATCH 9/9] Missed one

Signed-off-by: Aarav Gupta <134804732+Amronos@users.noreply.github.com>
---
 ros_gz_sim/ros_gz_sim/actions/gz_spawn_model.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 eb467a00..95992652 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
@@ -95,7 +95,7 @@ def parse(cls, entity: Entity, parser: Parser):
             optional=True)
 
         world_string = entity.get_attr(
-            'sdf_string', data_type=str,
+            'world_string', data_type=str,
             optional=True)
 
         topic = entity.get_attr(