feat: support Yahboom in shared Nav2 perception

src/perception3d_pkg/config/tf_mkmini.yaml

@@ -1,8 +1,8 @@
 
 lidar:
-  x: 0.1
+  x: 0.15
   y: 0.0
-  z: 0.6
+  z: 0.5
   roll: 0.0
   pitch: 0.0
   yaw: 0.0
@@ -28,4 +28,3 @@ rgb_front:
   yaw: 1.035
   frame_id: base_link
   child_frame_id: hero/rgb_front
-

src/perception_pkg/config/tf_mkmini.yaml

@@ -1,8 +1,8 @@
 
 lidar:
-  x: 0.1
+  x: 0.15
   y: 0.0
-  z: 0.6
+  z: 0.5
   roll: 0.0
   pitch: 0.0
   yaw: 0.0

src/perception_pkg/perception_pkg/launch_spec.py

@@ -6,7 +6,14 @@ def build_perception_commands(config):
     level = config.get("level")
     robot = config.get("robot", "")
     sim_mode = str(config.get("sim_mode", False)).lower()
-    if level and level != "None":
+    # Yahboom's vehicle/Agent already provide scan, odometry and sensor TF.
+    # Do not start a second odometry or point-cloud conversion pipeline.
+    yahboom_direct_scan = robot == "yahboom" and level == "2d"
+    # Gazebo's TurtleBot3 model publishes LaserScan directly. Launching the
+    # pointcloud conversion stack here is both redundant and unsupported.
+    if sim_mode == "true" and robot == "turtlebot3":
+        return cmds
+    if level and level != "None" and not yahboom_direct_scan:
         cmds.append(["ros2", "launch", f"perception{level}_pkg",
                      "perception.launch.py", f"robot:={robot}", f"sim_mode:={sim_mode}"])
     for entry in config.get("perception") or []:

src/perception_pkg/test/test_launch_spec.py

@@ -1,6 +1,24 @@
 from perception_pkg.launch_spec import build_perception_commands
 
 
+def test_yahboom_does_not_duplicate_scan_and_tf():
+    for simulation in (True, False):
+        assert build_perception_commands({
+            "level": "2d", "robot": "yahboom", "sim_mode": simulation}) == []
+
+
+def test_yahboom_keeps_explicit_extra_processing():
+    commands = build_perception_commands({
+        "level": "2d", "robot": "yahboom", "sim_mode": True,
+        "perception": [{"package": "custom_detector"}]})
+    assert commands == [["ros2", "launch", "custom_detector", "perception.launch.py"]]
+
+
+def test_turtlebot_simulation_remains_direct_scan():
+    assert build_perception_commands({
+        "level": "2d", "robot": "turtlebot3", "sim_mode": True}) == []
+
+
 def test_level_only():
     cmds = build_perception_commands({"level": "3d", "robot": "mkmini", "sim_mode": True})
     assert ["ros2", "launch", "perception3d_pkg", "perception.launch.py", "robot:=mkmini", "sim_mode:=true"] in cmds