Add global launch and configuration files

[DFriend01]

Description

Depends on the following PRs:

• Overhaul launch file local_pathfinding#27
• Overhaul launch files and add low level control node boat_simulator#28
• Update launch file to support global launch file network_systems#32

If not merged, use the following branches:

• local_pathfinding: patrick-5546/overhaul_launch_file
• boat_simulator: user/dfriend01/17-overhaul-launch-files
• network_systems: user/dfriend01/update_launch_file_name

This PR aims to streamline the process of running all packages while having a single source for global configuration and launching.

To Dos

• Move launch file to somewhere insides src/, as this is where the linters run
• Move global config file from local_pathfinding to this repository
• Read global config file in main_launch.py
• Decide on local launch naming convention. <PACKAGE>_launch.py vs main_launch.py, or something else.
• Add debug configuration for running global launch file

Verification

• Run global launch file: ros2 launch $ROS_WORKSPACE/global_launch/main_launch.py
  • Launches all packages as expected and all ROS topics show up in ros2 topic list.
  • Test mode launch argument with values production and development
  • Test log_level launch argument with value debug
  • Test debug configuration
• Run package launch files: ros launch debug configuration or ros2 launch <package> main_launch.py

Resources

• Invoking children launch files from a parent launch file
• Using launch arguments directly in parent launch file

[DFriend01]

Adding arguments

To do this, I believe that the steps are the following:

1. Try one of these methods to add arguments:

   • Add your launch arguments to the LAUNCH_ARGUMENTS list. I am hoping that the arguments are somehow passed into the children launch files. If this works, the only disadvantage that I see is that all arguments are exposed to all children launch files.
   • Edit the function get_include_launch_descriptions() in main_launch.py to accept launch arguments and include them in the launch include a description. I believe section 2 of this link shows you what that looks like. In each of the children launch files, make sure that the global parameters are declared with the DeclareLaunchArgument class and include them in the LaunchDescription (like what local pathfinding does right now). This method should allow us to only pass arguments that are needed for each package without exposing external arguments.

2. If you want to add any more global arguments, follow the instructions on line 17 of main_launch.py and repeat step 1.

[DFriend01]

@patrick-5546 It was decided that the following will be done:

• Global configuration files and package-specific configuration files will be stored in sailbot workspace
• Both the main launch file and the children will accept two arguments
  • The path to the global config file to be used
  • The path to the package-specific config file to be used
• If launched via the main launch file, whatever the main launch file specifies will override the arguments (the config file paths) in the children launch files.

[patrick-5546]

Great work on this PR, I really like this flow

[patrick-5546]

After this is merged lets update https://ubcsailbot.github.io/docs/main/current/sailbot_workspace/workflow/