nerf_based_localizer.launch.xml

<launch>
  <arg name="param_file" default="$(find-pkg-share nerf_based_localizer)/config/nerf_based_localizer.param.yaml"/>
  <arg name="node_name" default="nerf_based_localizer"/>

  <!-- Topics -->
  <arg name="input_pose" default="~/input/pose"/>
  <arg name="input_image" default="~/input/image"/>
  <arg name="service_optimize_pose" default="~/service/optimize_pose"/>
  <arg name="service_trigger_node" default="~/service/trigger_node"/>

  <arg name="output_pose" default="~/output/pose"/>
  <arg name="output_pose_with_covariance" default="~/output/pose_with_covariance"/>
  <arg name="output_score" default="~/output/score"/>
  <arg name="output_image" default="~/output/image"/>

  <node pkg="nerf_based_localizer" exec="nerf_based_localizer" name="$(var node_name)" output="log" args="--ros-args --log-level INFO">
    <remap from="~/input/pose" to="$(var input_pose)"/>
    <remap from="~/input/image" to="$(var input_image)"/>
    <remap from="~/service/optimize_pose" to="$(var service_optimize_pose)"/>
    <remap from="~/service/trigger_node" to="$(var service_trigger_node)"/>

    <remap from="~/output/pose" to="$(var output_pose)"/>
    <remap from="~/output/pose_with_covariance" to="$(var output_pose_with_covariance)"/>
    <remap from="~/output/score" to="$(var output_score)"/>
    <remap from="~/output/image" to="$(var output_image)"/>

    <param from="$(var param_file)"/>
  </node>
</launch>