self.publisher.publish(data)

        if rospy.get_param('corrupt_w', default=False):
            rospy.logwarn("MOCK sensors publishing broken wind sensor")
            data.wind_sensor_1_angle_degrees = 0

    <!-- Sets if changes in heading and speed should be smooth or not -->
    <arg name="smooth_changes" default="true" />
    <param name="smooth_changes" type="bool" value="$(arg smooth_changes)" />

    <arg name="sensor_noise" default="false" />
    <include file="$(find local_pathfinding)/launch/launch_all_mocks.launch">
...
      <arg name="sensor_noise" value="$(arg sensor_noise)" />
...
    </include>