Allow launch overrides

[andrewjong]

Allow launch overrides

What does this pull request do?

Sometimes you may want to test different configurations of the autonomy stack. For example, you may want to disable automatically playing the sim on startup,
or to change a child launch file.

The docker compose workflow is designed to support these overrides for local development.
docker compose uses .env files to set docker-compose variables that get propagated and interpolated into docker-compose.yaml files.
See the docker compose documentation for more details.

The default .env file is in the project root directory.
When no --env-file argument is passed to docker compose, it automatically uses this default .env file.

To override the default .env file, you can pass the --env-file argument to docker compose with a path to your custom .env file.

For example, this command disables playing the simulation on startup by overriding the PLAY_SIM_ON_START variable:

docker compose --env-file .env --env-file overrides/no_play_sim_on_start.env up -d
# this is also supported with the airstack command
airstack --env-file .env --env-file overrides/no_play_sim_on_start.env up

As another example, this command changes the perception launch file to perception_no_macvo.launch.xml:

docker compose --env-file .env --env-file overrides/no_macvo.env up -d

When overriding, the default .env file must be loaded first. The overrides are applied on top of it.

Which issue number does this address? Didn't make it into an issue

How did you implement it?

Using the --env-file syntax.

Testing

How do you run the tests?
See above. Try the no_play_sim_on_start.env file, when Isaac opens, it won't play the sim.

What do the tests do?
See above.

What are the expected results of the tests?
See above.

Did you update the docs (and where)?

Yup, under docker_usage.md

[openhands-ai]

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@OpenHands please fix the failing actions on PR #281

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