ROS provides a utility (invoked with roslaunch) to launch nodes with specific configurations in what are known as launch files. A launch file allows multiple configurations or complex configurations of launching a node (or multiple nodes) in a ROS environment. AutonomouStuff provides example launch files with all drivers in our AutonomouStuff Driver Pack. Example launch files can be found at <as_drivers_install>/install/share/<node_name>/launch/. Paths to launch files do not need to be supplied if the AutonomouStuff Driver Pack location is included in the ROS_PACKAGE_PATH.
To run a specific driver's launch file using roslaunch:
roslaunch <package_name> <file_name>.launch
roslaunch delphi_esr delphi_esr.launch
To provide values for arguments defined in the launch file: