From a0d288cf7df911f31dce0230bbdf923aa830bfa3 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Thu, 18 Jul 2024 18:40:02 -0500
Subject: [PATCH] Making use_composition true by default (#578)

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 ros_gz_bridge/launch/ros_gz_bridge.launch      | 2 +-
 ros_gz_bridge/launch/ros_gz_bridge.launch.py   | 2 +-
 ros_gz_sim/launch/gz_server.launch             | 2 +-
 ros_gz_sim/launch/gz_server.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 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/ros_gz_bridge/launch/ros_gz_bridge.launch b/ros_gz_bridge/launch/ros_gz_bridge.launch
index 929c72fe..80004a26 100644
--- a/ros_gz_bridge/launch/ros_gz_bridge.launch
+++ b/ros_gz_bridge/launch/ros_gz_bridge.launch
@@ -3,7 +3,7 @@
   <arg name="config_file" default="" />
   <arg name="container_name" default="ros_gz_container" />
   <arg name="namespace" default="" />
-  <arg name="use_composition" default="False" />
+  <arg name="use_composition" default="True" />
   <arg name="use_respawn" default="False" />
   <arg name="log_level" default="info" />
   <ros_gz_bridge
diff --git a/ros_gz_bridge/launch/ros_gz_bridge.launch.py b/ros_gz_bridge/launch/ros_gz_bridge.launch.py
index 5ad46b9d..397816d1 100644
--- a/ros_gz_bridge/launch/ros_gz_bridge.launch.py
+++ b/ros_gz_bridge/launch/ros_gz_bridge.launch.py
@@ -51,7 +51,7 @@ def generate_launch_description():
     )
 
     declare_use_composition_cmd = DeclareLaunchArgument(
-        'use_composition', default_value='False', description='Use composed bringup if True'
+        'use_composition', default_value='True', description='Use composed bringup if True'
     )
 
     declare_use_respawn_cmd = DeclareLaunchArgument(
diff --git a/ros_gz_sim/launch/gz_server.launch b/ros_gz_sim/launch/gz_server.launch
index 9a617649..4d667434 100644
--- a/ros_gz_sim/launch/gz_server.launch
+++ b/ros_gz_sim/launch/gz_server.launch
@@ -2,7 +2,7 @@
   <arg name="world_sdf_file" default="empty.sdf" />
   <arg name="world_sdf_string" default="" />
   <arg name="container_name" default="ros_gz_container" />
-  <arg name="use_composition" default="False" />
+  <arg name="use_composition" default="True" />
   <gz_server 
     world_sdf_file="$(var world_sdf_file)"
     world_sdf_string="$(var world_sdf_string)"
diff --git a/ros_gz_sim/launch/gz_server.launch.py b/ros_gz_sim/launch/gz_server.launch.py
index c73be0fe..0dc33d9c 100644
--- a/ros_gz_sim/launch/gz_server.launch.py
+++ b/ros_gz_sim/launch/gz_server.launch.py
@@ -34,7 +34,7 @@ def generate_launch_description():
         'container_name', default_value='ros_gz_container',
         description='Name of container that nodes will load in if use composition',)
     declare_use_composition_cmd = DeclareLaunchArgument(
-        'use_composition', default_value='False',
+        'use_composition', default_value='True',
         description='Use composed bringup if True')
 
     load_nodes = Node(
diff --git a/ros_gz_sim/launch/ros_gz_sim.launch b/ros_gz_sim/launch/ros_gz_sim.launch
index 89b048b2..cc6b04fc 100644
--- a/ros_gz_sim/launch/ros_gz_sim.launch
+++ b/ros_gz_sim/launch/ros_gz_sim.launch
@@ -3,7 +3,7 @@
   <arg name="config_file" default="" />
   <arg name="container_name" default="ros_gz_container" />
   <arg name="namespace" default="" />
-  <arg name="use_composition" default="False" />
+  <arg name="use_composition" default="True" />
   <arg name="use_respawn" default="False" />
   <arg name="log_level" default="info" />
   <arg name="world_sdf_file" default="empty.sdf" />
diff --git a/ros_gz_sim/launch/ros_gz_sim.launch.py b/ros_gz_sim/launch/ros_gz_sim.launch.py
index cad862ea..d0a68835 100644
--- a/ros_gz_sim/launch/ros_gz_sim.launch.py
+++ b/ros_gz_sim/launch/ros_gz_sim.launch.py
@@ -48,7 +48,7 @@ def generate_launch_description():
     )
 
     declare_use_composition_cmd = DeclareLaunchArgument(
-        'use_composition', default_value='False', description='Use composed bringup if True'
+        'use_composition', default_value='True', description='Use composed bringup if True'
     )
 
     declare_use_respawn_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 e5de33aa..87dcb248 100644
--- a/ros_gz_sim/launch/ros_gz_spawn_model.launch.py
+++ b/ros_gz_sim/launch/ros_gz_spawn_model.launch.py
@@ -58,7 +58,7 @@ def generate_launch_description():
     )
 
     declare_use_composition_cmd = DeclareLaunchArgument(
-        'use_composition', default_value='False', description='Use composed bringup if True'
+        'use_composition', default_value='True', description='Use composed bringup if True'
     )
 
     declare_use_respawn_cmd = DeclareLaunchArgument(