modify launch docs (#116)

* modify launch docs

* Aaron changes

* add Aaron changes

* fix file structure

* remove old comment

docs/design/launch_system.md

@@ -1,6 +1,6 @@
 # Launch System
 
-The launch system is used to help spin up all the nodes associated with a given experiement (e.g. simulation, reality). This page describes the file structure and how files are designed.
+The launch system is used to help spin up all the nodes associated with a given experiement (e.g. simulation, reality). This page describes the file structure and how files are designed, as well as how new launch dependencies should be added.
 
 > [!NOTE]
 > The term "orchestrator" is going to be used to describe a launch file that includes other launch files or does house keeping (defines `LaunchConfigurations`, etc.).
@@ -12,7 +12,9 @@ The file structure is as follows:
 ```
 autonomy-research-testbed/
 ├── art_launch/
+├── art_dev_launch/
 ├── launch_utils/
+├── art_<vehice name>_launch/
 └── art_<module>_launch/
 ```
 
@@ -22,20 +24,27 @@ Each folder contains a `launch/` folder where all the launch files should be pla
 
 ### File Naming Convention
 
-All launch files end in `.launch.py`. Furthermore, all launch files specific to the a vehicle platform or orchastrator launch files are prefixed with `art_`.
+All launch files end in `.launch.py`. Furthermore, all launch files specific to a vehicle platform or orchastrator launch files are prefixed with `art_`.
 
 ## `art_launch/`
 
-This is where the main launch file is held: [`art.launch.py`](../../workspace/src/common/launch/art_launch/launch/art.launch.py). This file will do a few things.
+This is where the main launch file is held: [`art.launch.py`](../../workspace/src/common/launch/art_launch/launch/art.launch.py). This is a common launch file through which most services will go through. `art_launch` accomplishes two tasks:
 
-1. It will first define system wide parameters (e.g. `LaunchConfigurations`, `LaunchDescriptions`, etc.).
-2. It will create a [composable node container](https://docs.ros.org/en/galactic/How-To-Guides/Launching-composable-nodes.html).
-3. It will include all other orchestration launch files.
+1. It will create a [composable node container](https://docs.ros.org/en/galactic/How-To-Guides/Launching-composable-nodes.html).
+2. It will include all other orchestration launch files.
+
+## `art_dev_launch/`
+
+The purpose of this file is to define system wide parameters (e.g. `LaunchConfigurations`, `LaunchDescriptions`, etc.) for the `dev` service. This will allow all orchestrators to know which specific packages to launch, and which to ignore. This is currently set up to run a cone-based path following demo, but can be used to test any other packages.
 
 ## `launch_utils/`
 
 The `launch_utils` folder contains helper functions for creating launch files. These helpers should be used throughout the launch system.
 
+## `art_<vehicle name>_launch/`
+
+Vehicle-specific launch files should be named following the above naming convention (`art_<vehicle name>_launch`), and should be structured in a similar way to `art_dev_launch`. This means they should only define launch arguments, leaving the process of actually launching modules to `art_launch`. This is defined to allow for multiple vehicles with various missions, sensor suites, etc. to all be launched in similar ways and all live in the same repository.
+
 ## `art_<module>_launch/`
 
 This folders deal directly with the subfolders defined in the [ROS Workspace](./ros_workspace.md) page. For instance, the [`art_control_launch`](../../workspace/src/common/launch/art_control_launch/) folder contains launch files for the control nodes.