From e2b9083e25777df920277ff103b7a027d6362b58 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryan.friedman@avinc.com>
Date: Wed, 22 May 2024 01:02:25 -0700
Subject: [PATCH] Tools: ros2: Fix plane launch headless

* Install models for other users
* Fix bool parsing in some launch args
---
 Tools/ros2/ardupilot_sitl/CMakeLists.txt        |  6 ++++++
 .../ardupilot_sitl/src/ardupilot_sitl/launch.py | 17 +++++++++++------
 2 files changed, 17 insertions(+), 6 deletions(-)

diff --git a/Tools/ros2/ardupilot_sitl/CMakeLists.txt b/Tools/ros2/ardupilot_sitl/CMakeLists.txt
index 83a30907c549f..7fc66475e73d2 100644
--- a/Tools/ros2/ardupilot_sitl/CMakeLists.txt
+++ b/Tools/ros2/ardupilot_sitl/CMakeLists.txt
@@ -99,6 +99,12 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}/config/
 )
 
+# Install additional autotest model params.
+install(DIRECTORY
+  ${ARDUPILOT_ROOT}/Tools/autotest/models
+  DESTINATION share/${PROJECT_NAME}/config/
+)
+
 # Install Python package.
 ament_python_install_package(${PROJECT_NAME}
   PACKAGE_DIR src/${PROJECT_NAME}
diff --git a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
index a0ea49a58ab6f..12b7009df90f3 100644
--- a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
+++ b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
@@ -31,6 +31,9 @@
 
 from .actions import ExecuteFunction
 
+TRUE_STRING = "True"
+FALSE_STRING = "False"
+BOOL_STRING_CHOICES = set([TRUE_STRING, FALSE_STRING])
 
 class VirtualPortsLaunch:
     """Launch functions for creating virtual ports using `socat`."""
@@ -307,10 +310,10 @@ def generate_action(context: LaunchContext, *args, **kwargs) -> ExecuteProcess:
             "--non-interactive ",
         ]
 
-        if console:
+        if console == TRUE_STRING:
             cmd.append("--console ")
 
-        if map:
+        if map == TRUE_STRING:
             cmd.append("--map ")
 
         # Create action.
@@ -369,11 +372,13 @@ def generate_launch_arguments() -> List[DeclareLaunchArgument]:
                 "map",
                 default_value="False",
                 description="Enable MAVProxy Map.",
+                choices=BOOL_STRING_CHOICES
             ),
             DeclareLaunchArgument(
                 "console",
                 default_value="False",
                 description="Enable MAVProxy Console.",
+                choices=BOOL_STRING_CHOICES
             ),
         ]
 
@@ -419,12 +424,12 @@ def generate_action(context: LaunchContext, *args, **kwargs) -> ExecuteProcess:
 
         # Optional arguments.
         wipe = LaunchConfiguration("wipe").perform(context)
-        if wipe == "True":
+        if wipe == TRUE_STRING:
             cmd_args.append("--wipe ")
             print(f"wipe:             {wipe}")
 
         synthetic_clock = LaunchConfiguration("synthetic_clock").perform(context)
-        if synthetic_clock == "True":
+        if synthetic_clock == TRUE_STRING:
             cmd_args.append("--synthetic-clock ")
             print(f"synthetic_clock:  {synthetic_clock}")
 
@@ -586,13 +591,13 @@ def generate_launch_arguments() -> List[DeclareLaunchArgument]:
                 "wipe",
                 default_value="False",
                 description="Wipe eeprom.",
-                choices=["True", "False"],
+                choices=BOOL_STRING_CHOICES,
             ),
             DeclareLaunchArgument(
                 "synthetic_clock",
                 default_value="False",
                 description="Set synthetic clock mode.",
-                choices=["True", "False"],
+                choices=BOOL_STRING_CHOICES,
             ),
             DeclareLaunchArgument(
                 "home",