added CLI arguement for enabling mock data node

src/boat_simulator/boat_simulator/common/constants.py

@@ -91,6 +91,9 @@ class BoatProperties:
 # CLI argument name for data collection option
 DATA_COLLECTION_CLI_ARG_NAME = "--enable-data-collection"
 
+# CLI argument name for data collection option
+MOCK_DATA_CLI_ARG_NAME = "--enable-mock-data"
+
 # Enumerated orientation indices since indexing pitch, roll, and yaw could be arbitrary
 ORIENTATION_INDICES = Enum("ORIENTATION_INDICES", ["PITCH", "ROLL", "YAW"], start=0)  # x, y, x
 

src/boat_simulator/boat_simulator/nodes/mock_data/mock_data_node.py

@@ -1,4 +1,5 @@
 import random
+import sys
 
 import rclpy
 from custom_interfaces.msg import DesiredHeading, HelperHeading, SailCmd
@@ -70,7 +71,20 @@ def publish_mock_sail_trim_tab_angle(self):
 def main(args=None):
     rclpy.init(args=args)
     node = MockDataNode()
-    rclpy.spin(node)
+    if is_mock_data_enabled():
+        try:
+            rclpy.spin(node)
+        finally:
+            rclpy.shutdown()
+
+
+def is_mock_data_enabled() -> bool:
+    try:
+        is_mock_data_enabled_index = sys.argv.index(Constants.MOCK_DATA_CLI_ARG_NAME) + 1
+        is_mock_data_enabled = sys.argv[is_mock_data_enabled_index] == "true"
+    except ValueError:
+        is_mock_data_enabled = False
+    return is_mock_data_enabled
 
 
 if __name__ == "__main__":

src/boat_simulator/launch/main_launch.py

@@ -30,6 +30,12 @@
         choices=["true", "false"],
         description="Enable data collection in the boat simulator",
     ),
+    DeclareLaunchArgument(
+        name="enable-mock-data",
+        default_value="false",
+        choices=["true", "false"],
+        description="Enable generation of mock data from pathfinding",
+    ),
 ]
 
 
@@ -200,8 +206,8 @@ def get_mock_data_description(context: LaunchContext) -> Node:
     ]
     # may not need local arguments.
     local_arguments: List[SomeSubstitutionsType] = [
-        Constants.MULTITHREADING_CLI_ARG_NAME,
-        [LaunchConfiguration("enable_sim_multithreading")],
+        Constants.MOCK_DATA_CLI_ARG_NAME,
+        [LaunchConfiguration("enable-mock-data")],
     ]
 
     node = Node(