Task2/factory_alignment_demo/launch/factory_alignment_demo.launch

<launch>
  <!-- Start this launch before manually sending a navigation goal. -->
  <arg name="enabled" default="false"/>
  <arg name="require_order" default="false"/>
  <arg name="cmd_vel_topic" default="/cmd_vel"/>
  <arg name="wall_approach_enabled" default="false"/>
  <arg name="ocr_confirmation_enabled" default="true"/>
  <arg name="entry_goal_enabled" default="true"/>
  <arg name="start_ocr_node" default="true"/>
  <arg name="start_search_adapter" default="true"/>

  <!-- Keep OCR resident but idle; the controller enables it at the terminal pose. -->
  <node if="$(arg start_ocr_node)" pkg="sign_recognition"
        type="sign_recognition_node.py" name="sign_recognition_node" output="screen">
    <param name="enabled" value="false"/>
    <param name="debug_save" value="false"/>
  </node>

  <node if="$(arg start_search_adapter)" pkg="factory_alignment_demo"
        type="factory_search_point_adapter.py" name="factory_search_point_adapter" output="screen">
    <rosparam command="load" file="$(find factory_alignment_demo)/config/factory_search_adapter.yaml"/>
  </node>

  <node pkg="factory_alignment_demo" type="factory_alignment_controller.py"
        name="factory_alignment_demo" output="screen">
    <rosparam command="load" file="$(find factory_alignment_demo)/config/factory_alignment.yaml"/>
    <param name="enabled" value="$(arg enabled)"/>
    <param name="require_order" value="$(arg require_order)"/>
    <param name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
    <param name="wall_approach_enabled" value="$(arg wall_approach_enabled)"/>
    <param name="ocr_confirmation_enabled" value="$(arg ocr_confirmation_enabled)"/>
    <param name="entry_goal_enabled" value="$(arg entry_goal_enabled)"/>
  </node>
</launch>