feat: add Yahboom map module for LMS

src/yahboom_map/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(yahboom_map)
+find_package(ament_cmake REQUIRED)
+install(DIRECTORY launch params DESTINATION share/${PROJECT_NAME})
+ament_package()

src/yahboom_map/launch/map.launch.py

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+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    share = get_package_share_directory("yahboom_map")
+    params = os.path.join(share, "params", "map.yaml")
+    nodes = [["nav2_map_server","map_server","map_server"]]
+    actions = []
+    actions.append(DeclareLaunchArgument("map", description="Absolute path to a saved map YAML"))
+    for package, executable, name in nodes:
+        actions.append(Node(
+            package=package, executable=executable, name=name, output="screen",
+            parameters=[params, {"yaml_filename": LaunchConfiguration("map")}],
+            remappings=[("odom", "/odom")],
+        ))
+    actions.append(Node(
+        package="nav2_lifecycle_manager", executable="lifecycle_manager",
+        name="lifecycle_manager_yahboom_map", output="screen",
+        parameters=[{"use_sim_time": False, "autostart": True,
+                     "node_names": [name for _, _, name in nodes]}],
+    ))
+    return LaunchDescription(actions)

src/yahboom_map/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>yahboom_map</name>
+  <version>1.0.0</version>
+  <description>Yahboom LMS map module, adapted from hkit_yahboom_ws.</description>
+  <maintainer email="support@futuredrive.net">FutureDrive</maintainer>
+  <license>Apache-2.0</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>nav2_bringup</exec_depend>
+  <export><build_type>ament_cmake</build_type></export>
+</package>

src/yahboom_map/params/map.yaml

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+map_server:
+  ros__parameters:
+    use_sim_time: false
+    yaml_filename: ''