fix: add missing keepout and speed zone substitutions for non-composed nodes (#5357)

* fix: add missing keepout and speed zone substitutions for non-composed nodes

Non-composed nodes were missing the yaml substitutions for keepout and speed
zones that are present in the component container launch. This was causing
parameter type errors when the substitution values weren't being replaced.

Added:
- use_keepout_zones and use_speed_zones launch arguments  
- yaml_substitutions dictionary with KEEPOUT_ZONE_ENABLED and SPEED_ZONE_ENABLED
- value_rewrites parameter to RewrittenYaml to apply the substitutions

Fixes #5356

Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com>

* Update bringup_launch.py

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>

Author: SteveMacenski

nav2_bringup/launch/bringup_launch.py

@@ -235,6 +235,8 @@ def generate_launch_description() -> LaunchDescription:
                     'params_file': params_file,
                     'use_composition': use_composition,
                     'use_respawn': use_respawn,
+                    'use_keepout_zones': use_keepout_zones,
+                    'use_speed_zones': use_speed_zones,
                     'container_name': 'nav2_container',
                 }.items(),
             ),

nav2_bringup/launch/navigation_launch.py

@@ -38,6 +38,8 @@ def generate_launch_description() -> LaunchDescription:
     container_name_full = (namespace, '/', container_name)
     use_respawn = LaunchConfigAsBool('use_respawn')
     log_level = LaunchConfiguration('log_level')
+    use_keepout_zones = LaunchConfigAsBool('use_keepout_zones')
+    use_speed_zones = LaunchConfigAsBool('use_speed_zones')
 
     lifecycle_nodes = [
         'controller_server',
@@ -58,11 +60,17 @@ def generate_launch_description() -> LaunchDescription:
     # Create our own temporary YAML files that include substitutions
     param_substitutions = {'autostart': autostart}
 
+    yaml_substitutions = {
+        'KEEPOUT_ZONE_ENABLED': use_keepout_zones,
+        'SPEED_ZONE_ENABLED': use_speed_zones,
+    }
+
     configured_params = ParameterFile(
         RewrittenYaml(
             source_file=params_file,
             root_key=namespace,
             param_rewrites=param_substitutions,
+            value_rewrites=yaml_substitutions,
             convert_types=True,
         ),
         allow_substs=True,
@@ -121,6 +129,16 @@ def generate_launch_description() -> LaunchDescription:
         'log_level', default_value='info', description='log level'
     )
 
+    declare_use_keepout_zones_cmd = DeclareLaunchArgument(
+        'use_keepout_zones', default_value='True',
+        description='Whether to enable keepout zones or not'
+    )
+
+    declare_use_speed_zones_cmd = DeclareLaunchArgument(
+        'use_speed_zones', default_value='True',
+        description='Whether to enable speed zones or not'
+    )
+
     load_nodes = GroupAction(
         condition=IfCondition(PythonExpression(['not ', use_composition])),
         actions=[
@@ -351,6 +369,8 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(declare_container_name_cmd)
     ld.add_action(declare_use_respawn_cmd)
     ld.add_action(declare_log_level_cmd)
+    ld.add_action(declare_use_keepout_zones_cmd)
+    ld.add_action(declare_use_speed_zones_cmd)
     # Add the actions to launch all of the navigation nodes
     ld.add_action(load_nodes)
     ld.add_action(load_composable_nodes)