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Hi,
So after digging into the source code a little, I found there is a FrontendLaunchDescriptionSource
class that can be used to include .yaml/.xml files inside a python launch file, example:
import os
from launch import LaunchDescription
from launch.launch_description_sources import FrontendLaunchDescriptionSource
from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
return LaunchDescription([
Node(
package='turtlesim',
executable='mimic',
name='mimic',
remappings=[
('/input/pose', '/turtlesim1/turtle1/pose'),
('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
]
),
IncludeLaunchDescription(
FrontendLaunchDescriptionSource(os.path.join(get_package_share_directory('rosbridge_server'), 'launch', 'rosbridge_websocket_launch.xml'))
),
])