feat: add use_sim_time support to FASTLIO2 launch file

Author: iserverobotics-bona

src/slam/fastlio2_autonomy_bridge/launch/fastlio2_autonomy.launch.py

@@ -2,7 +2,7 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, SetParameter
 from launch.conditions import IfCondition, UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
@@ -20,7 +20,13 @@ def generate_launch_description():
 
     local_mode = LaunchConfiguration("local_mode")
     relocalization_map_path = LaunchConfiguration("relocalization_map_path")
+    use_sim_time = LaunchConfiguration("use_sim_time")
 
+    declare_use_sim_time = DeclareLaunchArgument(
+        "use_sim_time",
+        default_value="false",
+        description="Use simulation clock for bagfile playback",
+    )
     declare_local_mode = DeclareLaunchArgument(
         "local_mode",
         default_value=default_local_mode,
@@ -98,8 +104,10 @@ def generate_launch_description():
 
     return LaunchDescription(
         [
+            declare_use_sim_time,
             declare_local_mode,
             declare_relocalization_map_path,
+            SetParameter(name="use_sim_time", value=use_sim_time),
             lio_node,
             pgo_node,
             localizer_node,