feat: add use_sim_time support to bagfile launch files

Enable proper TF synchronization when playing back bagfiles with
ros2 bag play --clock. Defaults to true for bagfile mode.

Author: iserverobotics-bona

src/base_autonomy/vehicle_simulator/launch/system_bagfile.launch.py

@@ -2,13 +2,14 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, SetParameter, TimerAction
 from launch.launch_description_sources import FrontendLaunchDescriptionSource, PythonLaunchDescriptionSource
 from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration 
+from launch.substitutions import LaunchConfiguration
 from launch.conditions import IfCondition, UnlessCondition
 
 def generate_launch_description():
+  use_sim_time = LaunchConfiguration('use_sim_time')
   use_fastlio2 = LaunchConfiguration('use_fastlio2')
   world_name = LaunchConfiguration('world_name')
   sensorOffsetX = LaunchConfiguration('sensorOffsetX')
@@ -18,6 +19,11 @@ def generate_launch_description():
   vehicleY = LaunchConfiguration('vehicleY')
   checkTerrainConn = LaunchConfiguration('checkTerrainConn')
 
+  declare_use_sim_time = DeclareLaunchArgument(
+    'use_sim_time',
+    default_value='true',
+    description='Use simulation clock for bagfile playback (default true for bagfile mode)'
+  )
   declare_use_fastlio2 = DeclareLaunchArgument(
     'use_fastlio2',
     default_value='false',
@@ -104,6 +110,8 @@ def generate_launch_description():
   ld = LaunchDescription()
 
   # Add the actions
+  ld.add_action(declare_use_sim_time)
+  ld.add_action(SetParameter(name='use_sim_time', value=use_sim_time))
   ld.add_action(declare_use_fastlio2)
   ld.add_action(declare_world_name)
   ld.add_action(declare_sensorOffsetX)

src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_exploration_planner.launch.py

@@ -2,13 +2,14 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, SetParameter, TimerAction
 from launch.launch_description_sources import FrontendLaunchDescriptionSource, PythonLaunchDescriptionSource
 from launch_ros.actions import Node
-from launch.substitutions import LaunchConfiguration 
+from launch.substitutions import LaunchConfiguration
 from launch.conditions import IfCondition, UnlessCondition
 
 def generate_launch_description():
+  use_sim_time = LaunchConfiguration('use_sim_time')
   use_fastlio2 = LaunchConfiguration('use_fastlio2')
   exploration_planner_config = LaunchConfiguration('exploration_planner_config')
   world_name = LaunchConfiguration('world_name')
@@ -19,6 +20,11 @@ def generate_launch_description():
   vehicleY = LaunchConfiguration('vehicleY')
   checkTerrainConn = LaunchConfiguration('checkTerrainConn')
 
+  declare_use_sim_time = DeclareLaunchArgument(
+    'use_sim_time',
+    default_value='true',
+    description='Use simulation clock for bagfile playback (default true for bagfile mode)'
+  )
   declare_use_fastlio2 = DeclareLaunchArgument(
     'use_fastlio2',
     default_value='false',
@@ -114,6 +120,8 @@ def generate_launch_description():
   ld = LaunchDescription()
 
   # Add the actions
+  ld.add_action(declare_use_sim_time)
+  ld.add_action(SetParameter(name='use_sim_time', value=use_sim_time))
   ld.add_action(declare_use_fastlio2)
   ld.add_action(declare_exploration_planner_config)
   ld.add_action(declare_world_name)

src/base_autonomy/vehicle_simulator/launch/system_bagfile_with_route_planner.launch.py

@@ -2,14 +2,15 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, TimerAction
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, SetParameter, TimerAction
 from launch.launch_description_sources import FrontendLaunchDescriptionSource, PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch.conditions import IfCondition, UnlessCondition
 from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
+  use_sim_time = LaunchConfiguration('use_sim_time')
   use_fastlio2 = LaunchConfiguration('use_fastlio2')
   use_pct_planner = LaunchConfiguration('use_pct_planner')
   route_planner_config = LaunchConfiguration('route_planner_config')
@@ -21,6 +22,11 @@ def generate_launch_description():
   vehicleY = LaunchConfiguration('vehicleY')
   checkTerrainConn = LaunchConfiguration('checkTerrainConn')
 
+  declare_use_sim_time = DeclareLaunchArgument(
+    'use_sim_time',
+    default_value='true',
+    description='Use simulation clock for bagfile playback (default true for bagfile mode)'
+  )
   declare_use_fastlio2 = DeclareLaunchArgument(
     'use_fastlio2',
     default_value='false',
@@ -131,6 +137,8 @@ def generate_launch_description():
   ld = LaunchDescription()
 
   # Add the actions
+  ld.add_action(declare_use_sim_time)
+  ld.add_action(SetParameter(name='use_sim_time', value=use_sim_time))
   ld.add_action(declare_use_fastlio2)
   ld.add_action(declare_use_pct_planner)
   ld.add_action(declare_route_planner_config)