ros2 launch pkg ~.launch.py

ExcuteProcess :

ros2 riviz2 rivz2

ExecuteProcess.launch.py

#!/usr/bin/env python3 import os from launch import LaunchDescription from launch.actions import ExecuteProcess, IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node # this is the function launch  system will look for def generate_launch_description():     # create and return launch description object     return LaunchDescription(         [             ExecuteProcess(                 cmd=["ros2", "run", "rviz2", "rviz2"], output="screen"             ),         ]     )

 

Node :

ros2 run turtlesim turtlesim_node ros2 run turtlesim draw_square

Node.launch.py

#!/usr/bin/env python3 import os from launch import LaunchDescription from launch.actions import ExecuteProcess, IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node # this is the function launch  system will look for def generate_launch_description():     turtlesim_node = Node(         package='turtlesim',         executable='turtlesim_node',         parameters=[],         arguments=[],         output="screen",     )     turtlesim_teleop_node = Node(         package='turtlesim',         executable='draw_square',         parameters=[],         arguments=[],         output="screen",     )     # create and return launch description object     return LaunchDescription(         [             turtlesim_node,             turtlesim_teleop_node,         ]     )

package.xml 

<exec_depend>ros2launch</exec_depend>

setup.py

import os from glob import glob from setuptools import setup package_name = 'my_package' setup(     # Other parameters ...     data_files=[         # ... Other data files         # Include all launch files. This is the most important line here!         (os.path.join('share', package_name), glob('launch/*.launch.py'))     ] )

CMakeLists.txt

# Install launch files. install(DIRECTORY   launch   DESTINATION share/${PROJECT_NAME}/ )

 

ros2 launch my_pkg_cpp ExecuteProcess.launch.py ros2 launch my_pkg_cpp Node.launch.py

 

[Reference]

[1] https://puzzling-cashew-c4c.notion.site/ROS-2-Launch-launch-file-55c2125808ef4b64bade278852b37d6e

[2] https://docs.ros.org/en/foxy/Tutorials/Launch/Launch-system.html

[3] https://docs.ros.org/en/foxy/Tutorials/Launch/Using-ROS2-Launch-For-Large-Projects.html