From 2f679926216a9b02d92973b7c5b1e4d78dd2b468 Mon Sep 17 00:00:00 2001
From: Michael Ripperger <michael.ripperger@swri.org>
Date: Thu, 14 Mar 2024 12:02:31 -0500
Subject: [PATCH] Update default empty list args as a workaround for ros2
 launch issue

---
 snp_motion_planning/launch/planning_server.launch.xml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/snp_motion_planning/launch/planning_server.launch.xml b/snp_motion_planning/launch/planning_server.launch.xml
index 1f333289a..6c136c21f 100644
--- a/snp_motion_planning/launch/planning_server.launch.xml
+++ b/snp_motion_planning/launch/planning_server.launch.xml
@@ -4,8 +4,9 @@
   <arg name="robot_description"/>
   <arg name="robot_description_semantic"/>
   <arg name="verbose" default="False"/>
-  <arg name="scan_disabled_contact_links" default="[]" description="List of links that should be allowed to collide with the scan (e.g., link to which the scan is attached) "/>
-  <arg name="scan_reduced_contact_links" default="[]" description="List of links whose minimum acceptable contact distance to the scan should be set to 0.0 (e.g., the TCP link)"/>
+  <!-- Add empty string to empty list so parameter exceptions aren't thrown. See https://github.com/ros2/rclcpp/issues/1955 -->
+  <arg name="scan_disabled_contact_links" default="['']" description="List of links that should be allowed to collide with the scan (e.g., link to which the scan is attached) "/>
+  <arg name="scan_reduced_contact_links" default="['']" description="List of links whose minimum acceptable contact distance to the scan should be set to 0.0 (e.g., the TCP link)"/>
   <!-- Scan Link -->
   <arg name="collision_object_type" default="convex_mesh" description="Collision model representation for scan mesh (convex_mesh, mesh, octree)"/>
   <arg name="octree_resolution" default="0.010"/>