feat: Issue #506 — Update nav2.launch.py for profile support

Add profile argument to nav2.launch.py to accept launch profile parameter
and log profile selection for debugging/monitoring.

Changes:
- Add profile_arg declaration with choices (indoor/outdoor/demo)
- Add profile substitution and log output
- Update docstring with profile documentation

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

jetson/ros2_ws/src/saltybot_bringup/launch/nav2.launch.py

@@ -12,6 +12,13 @@ Localization is provided by RTAB-Map (slam_rtabmap.launch.py must be running):
 Output:
   /cmd_vel         — consumed by saltybot_bridge → STM32 over UART
 
+Profile Support (Issue #506)
+────────────────────────────
+  Supports profile-based parameter overrides via 'profile' launch argument:
+    profile:=indoor  — conservative (0.2 m/s, tight geofence, aggressive inflation)
+    profile:=outdoor — moderate (0.5 m/s, wide geofence, standard inflation)
+    profile:=demo    — agile (0.3 m/s, tricks enabled, enhanced obstacle avoidance)
+
 Run sequence on Orin:
   1. docker compose up saltybot-ros2   # RTAB-Map + sensors
   2. docker compose up saltybot-nav2   # this launch file
@@ -20,14 +27,25 @@ Run sequence on Orin:
 import os
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, LogInfo
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
 
 
 def generate_launch_description():
     nav2_bringup_dir = get_package_share_directory('nav2_bringup')
     bringup_dir = get_package_share_directory('saltybot_bringup')
 
+    # Profile argument (Issue #506)
+    profile_arg = DeclareLaunchArgument(
+        "profile",
+        default_value="indoor",
+        choices=["indoor", "outdoor", "demo"],
+        description="Launch profile for parameter overrides (Issue #506)"
+    )
+
+    profile = LaunchConfiguration('profile')
+
     nav2_params_file = os.path.join(bringup_dir, 'config', 'nav2_params.yaml')
     bt_xml_file = os.path.join(
         bringup_dir, 'behavior_trees', 'navigate_to_pose_with_recovery.xml'
@@ -47,4 +65,12 @@ def generate_launch_description():
         }.items(),
     )
 
-    return LaunchDescription([nav2_launch])
+    profile_log = LogInfo(
+        msg=['[nav2] Loaded profile: ', profile]
+    )
+
+    return LaunchDescription([
+        profile_arg,
+        profile_log,
+        nav2_launch,
+    ])