arena_bringup

Top-level launch entry point for Arena, plus shared Python launch helpers, task configs. Everything that ties together the simulator, task-generator, and navigation stack lives here.

Guides

• Usage (BRINGUP.md) - minimum-viable invocations, common arg permutations, expected behavior.
• Launch surface - full arena_runtime.launch.py argument table, top-level composition, and the utils/ helpers.
• Simulator dispatch - SelectAction convention, per-sim subdirs (gazebo/, isaac/), adding a new simulator.
• Human simulator dispatch: see task_generator/launch/human/README.md (moved alongside its BaseHumanSimulator adapters).
• Task configs - TaskModeSpec schema, fleet-manager allocation, examples.
• Benchmark configs - suites, contests, and how the runner consumes them.
• Python helpers - LaunchArgument, SelectAction, IsolatedGroupAction, YAML substitutions, and log-level extension.

Internals

The arena_bringup Python package (arena_bringup/README.md) provides launch-time helpers used across all launch files in this package:

• LaunchArgument / SelectAction / YAML substitutions (arena_bringup/substitutions.py)
• IsolatedGroupAction (arena_bringup/actions.py)
• PythonExpression / IfElseSubstitution (arena_bringup/future.py)
• NodeLogLevelExtension / SetGlobalLogLevelAction (arena_bringup/extensions/NodeLogLevelExtension.py)