feat: add lms-nav2-gazebo-perception module

src/perception_lmnet_pkg/launch/perception.launch.py

@@ -0,0 +1,32 @@
+"""perception_manager 공통 진입점 (통합 perception 모듈).
+
+LocalLauncher buildPerceptionArg 가 모든 모델 pkg 에 동일한 계약으로
+`ros2 launch perception_lmnet_pkg perception.launch.py robot:=.. use_sim_time:=.. model_source:=..`
+를 스폰하므로(perception_pkg/launch_spec.py), 모델 launch(lmnet.launch.py)로 위임한다.
+robot 은 공통 계약상 선언만 하고, 모델 launch 가 선언한 경우에만 소비된다.
+"""
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    share = get_package_share_directory('perception_lmnet_pkg')
+    return LaunchDescription([
+        DeclareLaunchArgument('robot', default_value='fr09'),
+        DeclareLaunchArgument('use_sim_time', default_value='true'),
+        DeclareLaunchArgument('model_source', default_value='finetuned'),
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(share, 'launch', 'lmnet.launch.py')),
+            launch_arguments={
+                'robot': LaunchConfiguration('robot'),
+                'use_sim_time': LaunchConfiguration('use_sim_time'),
+                'model_source': LaunchConfiguration('model_source'),
+            }.items(),
+        ),
+    ])