From dc4f9ba5e5e3269a7faee7a8b2b3ca68b59acd6c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Wed, 19 Nov 2025 19:27:20 +0100
Subject: [PATCH 1/8] Add delay_between_messages argument to launch file

---
 test/examples/setup_examples_ros2.launch.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/test/examples/setup_examples_ros2.launch.xml b/test/examples/setup_examples_ros2.launch.xml
index ba00d576c..1b3ba50cd 100644
--- a/test/examples/setup_examples_ros2.launch.xml
+++ b/test/examples/setup_examples_ros2.launch.xml
@@ -6,6 +6,7 @@
     <arg name="call_services_in_new_thread" value="true"/>
     <!-- This is only non-default on humble, remove when humble EOL -->
     <arg name="send_action_goals_in_new_thread" value="true"/>
+    <arg name="delay_between_messages" default="0.0" />
   </include>
 
   <!-- Static transform publisher (equivalent to tf static_transform_publisher) -->

From 1efa4584b92a269ed07435971c6204e539f30869 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Wed, 19 Nov 2025 19:31:08 +0100
Subject: [PATCH 2/8] Change delay_between_messages arg from default to value

---
 test/examples/setup_examples_ros2.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/examples/setup_examples_ros2.launch.xml b/test/examples/setup_examples_ros2.launch.xml
index 1b3ba50cd..c97b6ba1a 100644
--- a/test/examples/setup_examples_ros2.launch.xml
+++ b/test/examples/setup_examples_ros2.launch.xml
@@ -6,7 +6,7 @@
     <arg name="call_services_in_new_thread" value="true"/>
     <!-- This is only non-default on humble, remove when humble EOL -->
     <arg name="send_action_goals_in_new_thread" value="true"/>
-    <arg name="delay_between_messages" default="0.0" />
+    <arg name="delay_between_messages" value="0.0" />
   </include>
 
   <!-- Static transform publisher (equivalent to tf static_transform_publisher) -->

From b135608b304ddf5e0df11a78bdeddad73c6b28d8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Wed, 19 Nov 2025 19:36:22 +0100
Subject: [PATCH 3/8] Add services_glob argument to launch file

---
 test/examples/setup_examples_ros2.launch.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/test/examples/setup_examples_ros2.launch.xml b/test/examples/setup_examples_ros2.launch.xml
index c97b6ba1a..9c5c7ec7c 100644
--- a/test/examples/setup_examples_ros2.launch.xml
+++ b/test/examples/setup_examples_ros2.launch.xml
@@ -7,6 +7,7 @@
     <!-- This is only non-default on humble, remove when humble EOL -->
     <arg name="send_action_goals_in_new_thread" value="true"/>
     <arg name="delay_between_messages" value="0.0" />
+    <arg name="services_glob" value="[*]" />
   </include>
 
   <!-- Static transform publisher (equivalent to tf static_transform_publisher) -->

From ffec37cb56ef501ae8f53bcbafded4e0c2f87a30 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Wed, 19 Nov 2025 19:50:22 +0100
Subject: [PATCH 4/8] Fix quotes in services_glob argument

---
 test/examples/setup_examples_ros2.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/examples/setup_examples_ros2.launch.xml b/test/examples/setup_examples_ros2.launch.xml
index 9c5c7ec7c..ad5b2fc22 100644
--- a/test/examples/setup_examples_ros2.launch.xml
+++ b/test/examples/setup_examples_ros2.launch.xml
@@ -7,7 +7,7 @@
     <!-- This is only non-default on humble, remove when humble EOL -->
     <arg name="send_action_goals_in_new_thread" value="true"/>
     <arg name="delay_between_messages" value="0.0" />
-    <arg name="services_glob" value="[*]" />
+    <arg name="services_glob" value="'[*]'" />
   </include>
 
   <!-- Static transform publisher (equivalent to tf static_transform_publisher) -->

From d8e3681b5a33c50d447e293a3e0ddbe4d2e70c80 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <MatthijsBurgh@outlook.com>
Date: Thu, 20 Nov 2025 15:27:46 +0100
Subject: [PATCH 5/8] Don't set delay_between_messages to float on humble

---
 test/examples/setup_examples_ros2.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/examples/setup_examples_ros2.launch.xml b/test/examples/setup_examples_ros2.launch.xml
index ad5b2fc22..479965ccf 100644
--- a/test/examples/setup_examples_ros2.launch.xml
+++ b/test/examples/setup_examples_ros2.launch.xml
@@ -6,7 +6,7 @@
     <arg name="call_services_in_new_thread" value="true"/>
     <!-- This is only non-default on humble, remove when humble EOL -->
     <arg name="send_action_goals_in_new_thread" value="true"/>
-    <arg name="delay_between_messages" value="0.0" />
+    <arg name="delay_between_messages" value="0.0" unless="$(eval env('ROS_DISTRO') == 'humble')">/>
     <arg name="services_glob" value="'[*]'" />
   </include>
 

From caacb15baf1d622998c29ab4e0e541356b1ad673 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <MatthijsBurgh@outlook.com>
Date: Thu, 20 Nov 2025 15:33:39 +0100
Subject: [PATCH 6/8] syntax fix

---
 test/examples/setup_examples_ros2.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/examples/setup_examples_ros2.launch.xml b/test/examples/setup_examples_ros2.launch.xml
index 479965ccf..4a57dc1db 100644
--- a/test/examples/setup_examples_ros2.launch.xml
+++ b/test/examples/setup_examples_ros2.launch.xml
@@ -6,7 +6,7 @@
     <arg name="call_services_in_new_thread" value="true"/>
     <!-- This is only non-default on humble, remove when humble EOL -->
     <arg name="send_action_goals_in_new_thread" value="true"/>
-    <arg name="delay_between_messages" value="0.0" unless="$(eval env('ROS_DISTRO') == 'humble')">/>
+    <arg name="delay_between_messages" value="0.0" unless="$(eval env('ROS_DISTRO') == 'humble')">
     <arg name="services_glob" value="'[*]'" />
   </include>
 

From d13563aa505ac12575822dc249f9dbdcfb093062 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <MatthijsBurgh@outlook.com>
Date: Thu, 20 Nov 2025 15:36:17 +0100
Subject: [PATCH 7/8] syntax fix

---
 test/examples/setup_examples_ros2.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/examples/setup_examples_ros2.launch.xml b/test/examples/setup_examples_ros2.launch.xml
index 4a57dc1db..281e2c3ed 100644
--- a/test/examples/setup_examples_ros2.launch.xml
+++ b/test/examples/setup_examples_ros2.launch.xml
@@ -6,7 +6,7 @@
     <arg name="call_services_in_new_thread" value="true"/>
     <!-- This is only non-default on humble, remove when humble EOL -->
     <arg name="send_action_goals_in_new_thread" value="true"/>
-    <arg name="delay_between_messages" value="0.0" unless="$(eval env('ROS_DISTRO') == 'humble')">
+    <arg name="delay_between_messages" value="0.0" unless="$(eval env('ROS_DISTRO') == 'humble')"/>
     <arg name="services_glob" value="'[*]'" />
   </include>
 

From b176c54920ca990cda9be32f0690726506bef165 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <MatthijsBurgh@outlook.com>
Date: Thu, 20 Nov 2025 15:54:11 +0100
Subject: [PATCH 8/8] Conditional arg value

As arg tags don't accept if/unless
---
 test/examples/setup_examples_ros2.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/examples/setup_examples_ros2.launch.xml b/test/examples/setup_examples_ros2.launch.xml
index 281e2c3ed..c59e15bde 100644
--- a/test/examples/setup_examples_ros2.launch.xml
+++ b/test/examples/setup_examples_ros2.launch.xml
@@ -6,7 +6,7 @@
     <arg name="call_services_in_new_thread" value="true"/>
     <!-- This is only non-default on humble, remove when humble EOL -->
     <arg name="send_action_goals_in_new_thread" value="true"/>
-    <arg name="delay_between_messages" value="0.0" unless="$(eval env('ROS_DISTRO') == 'humble')"/>
+    <arg name="delay_between_messages" value="$(if $(equals $(env 'ROS_DISTRO') 'humble') 0 0.0)"/>
     <arg name="services_glob" value="'[*]'" />
   </include>