feat: apply LMS runtime vehicle spec

src/vehicle_pkg/launch/vehicle.launch.py

@@ -32,6 +32,10 @@ ARGUMENTS = [
     DeclareLaunchArgument('level', default_value='None', choices=['None', '2d', '3d']),
     DeclareLaunchArgument('platform', default_value='mkmini'),
     DeclareLaunchArgument('robot', default_value='mkmini'),
+    # LMS platform DB values. Empty keeps the checked-in platform profile unchanged.
+    DeclareLaunchArgument('runtime_wheelbase', default_value=''),
+    DeclareLaunchArgument('runtime_max_speed', default_value=''),
+    DeclareLaunchArgument('runtime_max_steering_angle', default_value=''),
     DeclareLaunchArgument('vehicle_driver', default_value=''),               # override (real, 미지정=platform 기본)
     DeclareLaunchArgument('sensor_driver', default_value=''),                # override (real, 미지정=platform 기본)
     DeclareLaunchArgument('extra_config_dirs', default_value=''),        # 드라이버 ws 루트(콜론 구분)
@@ -56,6 +60,9 @@ def build(context, *args, **kwargs):
     level = LaunchConfiguration('level').perform(context)
     platform = LaunchConfiguration('platform').perform(context)
     robot = LaunchConfiguration('robot').perform(context)
+    runtime_wheelbase = LaunchConfiguration('runtime_wheelbase').perform(context)
+    runtime_max_speed = LaunchConfiguration('runtime_max_speed').perform(context)
+    runtime_max_steering_angle = LaunchConfiguration('runtime_max_steering_angle').perform(context)
     vehicle_driver = LaunchConfiguration('vehicle_driver').perform(context)
     sensor_driver = LaunchConfiguration('sensor_driver').perform(context)
     extra_config_dirs = LaunchConfiguration('extra_config_dirs').perform(context)
@@ -76,7 +83,10 @@ def build(context, *args, **kwargs):
         extra_config_dirs=extra_config_dirs,
         sensor_driver_params=sensor_driver_params,
         vehicle_driver_params=vehicle_driver_params,
-        simulator=simulator)
+        simulator=simulator,
+        runtime_wheelbase=runtime_wheelbase,
+        runtime_max_speed=runtime_max_speed,
+        runtime_max_steering_angle=runtime_max_steering_angle)
 
     sim = (sim_mode == 'true')
     actions = []

src/vehicle_pkg/vehicle_pkg/profiles.py

@@ -11,6 +11,7 @@ ROS 를 import 하지 않으므로 오프라인 단위 테스트로 파라미터
 
 import base64
 import json
+import math
 import os
 
 import yaml
@@ -75,6 +76,20 @@ def _to_launch_str(v):
     return str(v)
 
 
+def _optional_runtime_number(raw, name):
+    """Parse a runtime override while retaining the checked-in profile by default."""
+    value = str(raw or '').strip()
+    if not value:
+        return None
+    try:
+        parsed = float(value)
+    except ValueError as error:
+        raise ValueError(f"[profiles] invalid {name} runtime value: {raw!r}") from error
+    if not math.isfinite(parsed) or parsed < 0:
+        raise ValueError(f"[profiles] invalid {name} runtime value: {raw!r}")
+    return parsed
+
+
 def _merge_params(prof, kind, raw_b64):
     """yaml parameters 선언 default ← 사용자 오버라이드(base64 JSON) 병합.
 
@@ -99,7 +114,9 @@ def _merge_params(prof, kind, raw_b64):
 def resolve_plan(pkg_share, platform_name, sim_mode,
                  vehicle_driver_arg='', sensor_driver_arg='',
                  extra_config_dirs='', sensor_driver_params='',
-                 vehicle_driver_params='', simulator=''):
+                 vehicle_driver_params='', simulator='',
+                 runtime_wheelbase='', runtime_max_speed='',
+                 runtime_max_steering_angle=''):
     """platform/sim_mode/override 로 launch 플랜(dict) 해소. ROS 비의존.
 
     sim_mode 는 'true'/'false' 문자열. override 가 빈 문자열이면 platform 기본값 사용.
@@ -107,7 +124,15 @@ def resolve_plan(pkg_share, platform_name, sim_mode,
     sensor_driver_params / vehicle_driver_params 는 base64(JSON) 사용자 오버라이드.
     """
     sim = (str(sim_mode) == 'true')
-    P = load_platform(pkg_share, platform_name)
+    P = dict(load_platform(pkg_share, platform_name))
+    runtime_speed = _optional_runtime_number(runtime_max_speed, 'max_speed')
+    runtime_values = {
+        'wheelbase': _optional_runtime_number(runtime_wheelbase, 'wheelbase'),
+        'max_steering_angle': _optional_runtime_number(runtime_max_steering_angle, 'max_steering_angle'),
+    }
+    for name, value in runtime_values.items():
+        if value is not None:
+            P[name] = value
 
     # 사용자 드라이버 ws 루트들 (pkg_share config 에 없는 프로파일 폴백 탐색 경로)
     extra_dirs = [d for d in str(extra_config_dirs).split(':') if d]
@@ -134,6 +159,8 @@ def resolve_plan(pkg_share, platform_name, sim_mode,
     adapter_params = dict(VD.get('adapter_params') or {})
     adapter_params['wheelbase'] = P['wheelbase']
     adapter_params['max_steering_angle'] = P['max_steering_angle']
+    if runtime_speed is not None:
+        adapter_params['max_speed'] = runtime_speed
     adapter_name = VD.get('adapter') or ''
     spec = get_adapter(adapter_name) if adapter_name else None