fixing loopback sim (#5384)

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

Author: SteveMacenski

nav2_bringup/launch/tb4_loopback_simulation_launch.py

@@ -141,6 +141,8 @@ def generate_launch_description() -> LaunchDescription:
             'autostart': autostart,
             'use_composition': use_composition,
             'use_respawn': use_respawn,
+            'use_keepout_zones': 'False',  # Keepout zones not used in loopback simulation
+            'use_speed_zones': 'False',  # Speed zones not used in loopback simulation
             'use_localization': 'False',  # Don't use SLAM, AMCL
         }.items(),
     )
@@ -158,8 +160,9 @@ def generate_launch_description() -> LaunchDescription:
         package='tf2_ros',
         executable='static_transform_publisher',
         arguments=[
-            '0.0', '0.0', '0.0', '0', '0', '0',
-            'base_footprint', 'base_link']
+            '--x', '0.0', '--y', '0.0', '--z', '0.0',
+            '--roll', '0', '--pitch', '0', '--yaw', '0',
+            '--frame-id', 'base_footprint', '--child-frame-id', 'base_link']
     )
 
     configured_params = ParameterFile(