raw_vehicle_converter.launch.xml

<?xml version="1.0"?>
<launch>
  <arg name="input_control_cmd" default="/control/command/control_cmd"/>
  <arg name="input_odometry" default="/localization/kinematic_state"/>
  <arg name="input_steering" default="/vehicle/status/steering_status"/>
  <arg name="output_actuation_cmd" default="/control/command/actuation_cmd"/>
  <!-- Parameter -->
  <arg name="config_file" default="$(find-pkg-share raw_vehicle_cmd_converter)/config/raw_vehicle_cmd_converter.param.yaml"/>

  <node pkg="raw_vehicle_cmd_converter" exec="raw_vehicle_cmd_converter_node" name="raw_vehicle_cmd_converter" output="screen">
    <param from="$(var config_file)" allow_substs="true"/>
    <remap from="~/input/control_cmd" to="$(var input_control_cmd)"/>
    <remap from="~/input/odometry" to="$(var input_odometry)"/>
    <remap from="~/input/steering" to="$(var input_steering)"/>
    <remap from="~/output/actuation_cmd" to="$(var output_actuation_cmd)"/>
  </node>
</launch>