feat: support Yahboom local Gazebo simulation

src/yahboom_slam/launch/slam.launch.py

@@ -4,16 +4,19 @@ 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
 
 def generate_launch_description():
     share = get_package_share_directory("yahboom_slam")
+    clock = ParameterValue(LaunchConfiguration("sim_mode"), value_type=bool)
     return LaunchDescription([
+        DeclareLaunchArgument("sim_mode", default_value="false", choices=["true", "false"]),
         Node(package="cartographer_ros", executable="cartographer_node",
-             parameters=[{"use_sim_time": False}], output="screen",
+             parameters=[{"use_sim_time": clock}], output="screen",
              arguments=["-configuration_directory", os.path.join(share, "params"),
                         "-configuration_basename", "yahboom_cartographer.lua"],
              remappings=[("scan", "/scan"), ("odom", "/odom")]),
         Node(package="cartographer_ros", executable="cartographer_occupancy_grid_node",
-             parameters=[{"use_sim_time": False}], output="screen",
+             parameters=[{"use_sim_time": clock}], output="screen",
              arguments=["-resolution", "0.05", "-publish_period_sec", "1.0"]),
     ])