So, you now have many nodes in your packages. When you start them, you can rename them, rename the topics, services, and set parameters.

That’s a lot of things! Now, imagine you have to start 10 nodes, each with a different configuration. Using the terminal is not something that scales well.

In this section we’ll see how to solve that problem with launch files.

At the end of this section you will be able to start all your nodes and parameters from one single ROS 2 Launch File.

What you’ll do in this section:

• Understand what launch files are and when to use them.

• How to create, install, and start a launch file.

• Install YAML files and load them inside your launch files.

• Discover how to start your nodes inside namespaces.

• And practice more on your one with another activity.