Passing array of strings as launch arguments in ROS2 python launcher

Dear ROS users,

I am not able to set an array of string as a launch argument in a launcher:

def generate_launch_description():
    vals = ['A', 'B']
    model_files = LaunchConfiguration('model_files', default=vals)
    
    declare_model_file_cmd = DeclareLaunchArgument(
      'model_files',
       default_value=vals,
       description='PDDL Model file')

    # Specify the actions
    domain_expert_cmd = Node(
      package='plansys2_domain_expert',
      node_executable='domain_expert_node',
      node_name='domain_expert',
      output='screen',
      parameters=[{'model_files': model_files}])
    
    ld = LaunchDescription()
    ld.add_action(declare_model_file_cmd)
    ld.add_action(domain_expert_cmd)

    return ld

In my C++ node:

    declare_parameter("model_files", std::vector<std::string>());

I receive this message:

[domain_expert_node-1] terminate called after throwing an instance of 'rclcpp::ParameterTypeException'
[domain_expert_node-1]   what():  expected [string_array] got [string]

Does anybody know how to use an array of string as a launcher argument?

Best

Originally posted by fmrico on ROS Answers with karma: 85 on 2020-01-12

Post score: 1