From 3d084f1932db751d6d496ee1a31d7fb691a69887 Mon Sep 17 00:00:00 2001
From: chyoo <chyoo@futuredrive.net>
Date: Tue, 22 Sep 2026 10:28:54 +0900
Subject: [PATCH] feat: support Yahboom local Gazebo simulation

---
 README.md                                      | 6 +++++-
 src/yahboom_planning/launch/planning.launch.py | 9 +++++++--
 src/yahboom_planning/package.xml               | 1 +
 3 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index ad8b734..d57b0c7 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,11 @@ LMS 전용 템플릿 저장소입니다. 설치 폴더: `[lms-nav2-yahboom-plann
 
 - 패키지: `yahboom_planning`
 - 런치: `planning.launch.py`
-- 이미지: `future-nav2:humble-yahboom`
+- 이미지: `future-nav2:humble-yahboom` (실차 기본)
+- 로컬 시뮬레이션: 빌드 전에 `sim_mode:=true`를 설정하면 LMS가
+  `future-nav2-gazebo:humble`을 사용합니다. 기본값은 `false`입니다.
+- 시뮬레이션에서는 기존 NAV2-Gazebo에 `platform:=yahboom`을 설정하고
+  NAV2-Yahboom 차량 모듈을 함께 실행합니다. 실차 Agent/Camera는 실행하지 않습니다.
 - 앱의 야붐 실행기 지원이 반영되어야 합니다.
 - 서버 과정의 야붐 전용 환경에 이 모듈과 이미지 아티팩트를 등록한 후
   LMS에서 설치 -> 빌드 -> 실행합니다.
diff --git a/src/yahboom_planning/launch/planning.launch.py b/src/yahboom_planning/launch/planning.launch.py
index 82f2389..a85dc63 100644
--- a/src/yahboom_planning/launch/planning.launch.py
+++ b/src/yahboom_planning/launch/planning.launch.py
@@ -4,12 +4,17 @@ from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+from nav2_common.launch import RewrittenYaml
 
 def generate_launch_description():
     share = get_package_share_directory("yahboom_planning")
     params = os.path.join(share, "params", "planning.yaml")
+    params = RewrittenYaml(source_file=params, root_key="",
+                           param_rewrites={"use_sim_time": LaunchConfiguration("sim_mode")},
+                           convert_types=True)
     nodes = [["nav2_planner","planner_server","planner_server"],["nav2_bt_navigator","bt_navigator","bt_navigator"],["nav2_waypoint_follower","waypoint_follower","waypoint_follower"]]
-    actions = []
+    actions = [DeclareLaunchArgument("sim_mode", default_value="false", choices=["true", "false"])]
     for package, executable, name in nodes:
         actions.append(Node(
             package=package, executable=executable, name=name, output="screen",
@@ -19,7 +24,7 @@ def generate_launch_description():
     actions.append(Node(
         package="nav2_lifecycle_manager", executable="lifecycle_manager",
         name="lifecycle_manager_yahboom_planning", output="screen",
-        parameters=[{"use_sim_time": False, "autostart": True,
+        parameters=[{"use_sim_time": ParameterValue(LaunchConfiguration("sim_mode"), value_type=bool), "autostart": True,
                      "node_names": [name for _, _, name in nodes]}],
     ))
     return LaunchDescription(actions)
diff --git a/src/yahboom_planning/package.xml b/src/yahboom_planning/package.xml
index e7df19c..8c7f037 100644
--- a/src/yahboom_planning/package.xml
+++ b/src/yahboom_planning/package.xml
@@ -10,5 +10,6 @@
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>nav2_bringup</exec_depend>
+  <exec_depend>nav2_common</exec_depend>
   <export><build_type>ament_cmake</build_type></export>
 </package>