Declare Boolean Launch Argument

launch/launch/actions/__init__.py

@@ -14,6 +14,7 @@
 
 """actions Module."""
 
+from .declare_boolean_launch_argument import DeclareBooleanLaunchArgument
 from .declare_launch_argument import DeclareLaunchArgument
 from .append_environment_variable import AppendEnvironmentVariable  # noqa: I100
 from .emit_event import EmitEvent
@@ -49,6 +50,7 @@
 __all__ = [
     'AppendEnvironmentVariable',
     'DeclareLaunchArgument',
+    'DeclareBooleanLaunchArgument',
     'EmitEvent',
     'ExecuteLocal',
     'ExecuteProcess',

launch/launch/actions/declare_boolean_launch_argument.py

@@ -0,0 +1,84 @@
+# Copyright 2026 Metro Robots
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Module for the DeclareBooleanLaunchArgument action."""
+
+from typing import Any
+from typing import Dict
+from typing import Optional
+from typing import Text
+from typing import Tuple
+from typing import Type
+
+from .declare_launch_argument import DeclareLaunchArgument
+from ..frontend import Entity
+from ..frontend import expose_action
+from ..frontend import Parser  # noqa: F401
+from ..some_substitutions_type import SomeSubstitutionsType
+
+
+@expose_action('bool_arg')
+class DeclareBooleanLaunchArgument(DeclareLaunchArgument):
+    """
+    Action that declares a new boolean launch argument.
+
+    This is a bit of syntactic sugar for
+    :py:class:`launch.actions.DeclareLaunchArgument`
+    that sets the choices to be either true or false (caps-insensitive)
+
+    .. doctest::
+
+        >>> ld = LaunchDescription([
+        ...     DeclareBooleanLaunchArgument('simple_argument'),  # default value is False
+        ...     DeclareBooleanLaunchArgument('with_default_value', default_value=True),
+        ...     # other actions here, ...
+        ... ])
+
+    .. code-block:: xml
+
+        <launch>
+            <bool_arg name="simple_argument"/>
+            <bool_arg name="with_default_value" default_value="true"/>
+        </launch>
+    """
+
+    def __init__(
+        self,
+        name: Text,
+        *,
+        default_value: Optional[SomeSubstitutionsType | bool] = None,
+        **kwargs: Any
+    ) -> None:
+        """Create a DeclareBooleanLaunchArgument action."""
+        super().__init__(
+            name=name,
+            default_value=(default_value if not isinstance(default_value, bool)
+                           else str(default_value)),
+            choices=['true', 'false', 'True', 'False'],
+            **kwargs
+        )
+
+    @classmethod
+    def parse(
+        cls,
+        entity: Entity,
+        parser: 'Parser'
+    ) -> Tuple[Type['DeclareBooleanLaunchArgument'], Dict[str, Any]]:
+        """Parse `bool_arg` tag."""
+        _, kwargs = super().parse(entity, parser)
+
+        if 'choices' in kwargs:
+            raise ValueError('Cannot specify choices for bool_arg')
+
+        return cls, kwargs

launch/test/launch/actions/test_declare_boolean_launch_argument.py

@@ -0,0 +1,46 @@
+# Copyright 2026 Metro Robots
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Tests for the DeclareBooleanLaunchArgument action class."""
+
+# from launch import LaunchContext
+from launch.actions import DeclareBooleanLaunchArgument
+
+import pytest
+
+
+def test_declare_launch_argument_constructors():
+    """Test the constructors for DeclareLaunchArgument class."""
+    DeclareBooleanLaunchArgument('name')
+
+    # All possible default values
+    DeclareBooleanLaunchArgument('name', default_value='True')
+    DeclareBooleanLaunchArgument('name', default_value='true')
+    DeclareBooleanLaunchArgument('name', default_value='False')
+    DeclareBooleanLaunchArgument('name', default_value='false')
+    DeclareBooleanLaunchArgument('name', default_value=True)
+    DeclareBooleanLaunchArgument('name', default_value=False)
+
+    # With description
+    DeclareBooleanLaunchArgument('name', description='description')
+
+    # With invalid default value
+    with pytest.raises(RuntimeError) as excinfo:
+        DeclareBooleanLaunchArgument('name', default_value='invalid')
+    assert 'not in provided choices' in str(excinfo.value)
+
+    # With invalid choices override
+    with pytest.raises(TypeError) as excinfo:
+        DeclareBooleanLaunchArgument('name', choices=['verdad', 'no verdad'])
+    assert "multiple values for keyword argument 'choices'" in str(excinfo.value)