launch file

ROS2 launch file allow us to start up and configure a number of executables containing ROS 2 nodes simultaneously. You don’t to execute each node with a ros2 run <package> <node>. ROS 2 launch files can be written in Python, XML, and YAML. Python, XML, and YAML for ROS 2 Launch Files

In this course this little example assume you want to write your launch file on YAML; but it is more common to find launch files written on Python.

How to launch a launcher

ros2 launch <launcher>.yaml

if you have more than a package you need to specify the package.

ros2 launch <package> <launcher>.yaml