feat: add software smoke test launch flags

src/bringup/launch/full_system.launch.py

@@ -1,14 +1,24 @@
-import os 
+import os
+
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, Shutdown
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch.actions import Shutdown, IncludeLaunchDescription
 from ament_index_python.packages import get_package_share_directory
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 '''
 This file kinda works, but because of the logs of the other packages, it screws up the interface itself, not being able to click
 '''
 def generate_launch_description():
+    use_synthetic_actuation_feedback = LaunchConfiguration(
+        'use_synthetic_actuation_feedback'
+    )
+    use_synthetic_odometry = LaunchConfiguration('use_synthetic_odometry')
+    use_synthetic_perception = LaunchConfiguration('use_synthetic_perception')
+
     # Helper so that a failure in this node takes down all of AP1 instead of just continuing
     def CriticalNode(**kwargs):
         return Node(on_exit=Shutdown(), **kwargs)
@@ -26,6 +36,13 @@ def CriticalNode(**kwargs):
             csv_file_path
         ],
     )
+    synthetic_actuation_feedback = Node(
+        package='ap1_control',
+        executable='synthetic_actuation_feedback_node',
+        name='synthetic_actuation_feedback',
+        output='screen',
+        condition=IfCondition(use_synthetic_actuation_feedback),
+    )
 
     # == PLANNER NODE ==
     pkg_share = get_package_share_directory('ap1_planning')
@@ -46,12 +63,14 @@ def CriticalNode(**kwargs):
         executable='yolo_node',
         name='ap1_yolo',
         output='log',
+        condition=UnlessCondition(use_synthetic_perception),
     )
     ufld_ground = CriticalNode(
         package='ap1_perception',
         executable='ufld_ground_node',
         name='ap1_ufld_ground',
         output='log',
+        condition=UnlessCondition(use_synthetic_perception),
     )
 
     # == CONSOLE NODE ==
@@ -70,11 +89,35 @@ def CriticalNode(**kwargs):
                 'launch',
                 'mapping_pipeline.launch.py'
             )
-        )
+        ),
+        launch_arguments={
+            'use_synthetic_perception': use_synthetic_perception,
+            'use_synthetic_odometry': use_synthetic_odometry,
+        }.items(),
     )
 
     return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_synthetic_actuation_feedback',
+            default_value='false',
+            description=(
+                'Publish fake /ap1/actuation feedback for smoke tests.'
+            ),
+        ),
+        DeclareLaunchArgument(
+            'use_synthetic_odometry',
+            default_value='false',
+            description='Forward synthetic odometry flag to mapping launch.',
+        ),
+        DeclareLaunchArgument(
+            'use_synthetic_perception',
+            default_value='false',
+            description=(
+                'Use mapping synthetic perception instead of real YOLO/UFLD.'
+            ),
+        ),
         control,
+        synthetic_actuation_feedback,
         planner,
         yolo,
         ufld_ground,