emergency_goal_manager.launch.xml

<launch>
  <arg name="input_emergency_goals" default="/system/mrm/pull_over_manager/emergency_goals"/>
  <arg name="input_goals_clear_command" default="/system/mrm/pull_over_manager/goals_clear_command"/>

  <node pkg="emergency_goal_manager" exec="emergency_goal_manager" name="emergency_goal_manager" output="screen">
    <remap from="~/input/emergency_goals" to="$(var input_emergency_goals)"/>
    <remap from="~/input/emergency_goals_clear_command" to="$(var input_goals_clear_command)"/>
  </node>
</launch>