navigation.launch.py: auto_localize seeds AMCL to skip the manual pose estimate

AMCL (navigation.yaml set_initial_pose: false) waits for a manual RViz "2D Pose
Estimate" before it publishes map->odom, so the map frame never connects to TF
even though the map loads -- which blocks anything wanting the map frame (e.g.
bump_map wall-segment estimation).

Add an auto_localize option that seeds AMCL at a known start pose via the
existing oomwoo_sim_support initialpose_pub node (publishes /initialpose, exits
when AMCL converges). Only in localization mode (slam=False), and by default
only in sim (auto_localize=sim) so real-robot bringup stays manual. x_pose /
y_pose / yaw default to the oomwoo_gazebo world.launch.py spawn (-2.0, -0.5, 0);
AMCL converges from a rough pose so they need only be close.

Adds the in-tree oomwoo_sim_support exec_depend (check_rosdeps now resolves
workspace-local packages). Verified: ament lints + check_rosdeps pass.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

Author: kaiaai

src/oomwoo_bringup/launch/navigation.launch.py

@@ -27,14 +27,16 @@
 from launch.substitutions import LaunchConfiguration
 
 from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
 
 
 def make_nodes(context: LaunchContext, robot_model, map_arg, use_sim_time,
-               slam):
+               slam, x_pose, y_pose, yaw, auto_localize):
     robot_model_str = context.perform_substitution(robot_model)
     map_path_str = context.perform_substitution(map_arg)
     use_sim_time_str = context.perform_substitution(use_sim_time)
     slam_str = context.perform_substitution(slam)
+    auto_str = context.perform_substitution(auto_localize)
 
     if len(robot_model_str) == 0:
         robot_model_str = config.get_var('robot.model')
@@ -55,7 +57,7 @@ def make_nodes(context: LaunchContext, robot_model, map_arg, use_sim_time,
     print('Nav2  config : {}'.format(nav_config_path))
     print('Map          : {}'.format(map_path_str))
 
-    return [
+    nodes = [
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource([
                 os.path.join(get_package_share_path('nav2_bringup'), 'launch'),
@@ -77,6 +79,24 @@ def make_nodes(context: LaunchContext, robot_model, map_arg, use_sim_time,
         )
     ]
 
+    # Seed AMCL at the known start pose so map->odom appears WITHOUT the manual
+    # RViz "2D Pose Estimate". Only in localization mode (slam=False), and by
+    # default only in sim (auto_localize=sim); real-robot bringup stays manual.
+    # AMCL converges from a rough pose, so x_pose/y_pose/yaw need only be close.
+    localizing = slam_str.strip().lower() in ('false', '0')
+    auto = auto_str == 'true' or (
+        auto_str == 'sim' and use_sim_time_str.lower() == 'true')
+    if localizing and auto:
+        nodes.append(Node(
+            package='oomwoo_sim_support', executable='initialpose_pub',
+            name='initialpose_pub', output='screen',
+            parameters=[{
+                'use_sim_time': use_sim_time_str.lower() == 'true',
+                'x': ParameterValue(x_pose, value_type=float),
+                'y': ParameterValue(y_pose, value_type=float),
+                'yaw': ParameterValue(yaw, value_type=float)}]))
+    return nodes
+
 
 def generate_launch_description():
     return LaunchDescription([
@@ -105,10 +125,32 @@ def generate_launch_description():
             choices=['True', 'False'],
             description='Navigate while creating a new map'
         ),
+        # Auto-localization: seed AMCL at the known start pose to skip the manual
+        # RViz "2D Pose Estimate". Defaults match oomwoo_gazebo world.launch.py.
+        DeclareLaunchArgument(
+            'auto_localize', default_value='sim',
+            choices=['true', 'false', 'sim'],
+            description="Seed AMCL at (x_pose,y_pose,yaw) so map->odom appears "
+                        "without the manual 2D Pose Estimate. 'sim' = only when "
+                        'use_sim_time:=true; real-robot bringup stays manual.'
+        ),
+        DeclareLaunchArgument(
+            'x_pose', default_value='-2.0',
+            description='Known start x for auto_localize (m)'),
+        DeclareLaunchArgument(
+            'y_pose', default_value='-0.5',
+            description='Known start y for auto_localize (m)'),
+        DeclareLaunchArgument(
+            'yaw', default_value='0.0',
+            description='Known start yaw for auto_localize (rad)'),
         OpaqueFunction(function=make_nodes, args=[
             LaunchConfiguration('robot_model'),
             LaunchConfiguration('map'),
             LaunchConfiguration('use_sim_time'),
             LaunchConfiguration('slam'),
+            LaunchConfiguration('x_pose'),
+            LaunchConfiguration('y_pose'),
+            LaunchConfiguration('yaw'),
+            LaunchConfiguration('auto_localize'),
         ]),
     ])

src/oomwoo_bringup/package.xml

@@ -33,6 +33,7 @@
   <exec_depend>xacro</exec_depend>
   <exec_depend>cartographer_ros</exec_depend>
   <exec_depend>nav2_bringup</exec_depend>
+  <exec_depend>oomwoo_sim_support</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>