a

src/gc_bringup/launch/navigation.launch.py

@@ -81,6 +81,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params,
                     {'use_sim_time': True, 'yaml_filename': map_yaml}],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== AMCL ====================
@@ -91,6 +92,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Planner Server ====================
@@ -101,6 +103,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Controller Server ====================
@@ -111,6 +114,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Behavior Server ====================
@@ -121,6 +125,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== BT Navigator ====================
@@ -131,6 +136,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Waypoint Follower ====================
@@ -141,6 +147,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Lifecycle Manager (map + amcl) ====================