<launch> <!-- If a node_name argument is provided by the caller then we will set the metric node's name to that value --> <arg name="node_name" default="cloudwatch_logger" /> <!-- If a config file argument is provided by the caller then we will load it into the node's namespace --> <arg name="config_file" default="" /> <!-- The output argument sets the node's stdout/stderr location. Set to 'screen' to see this node's output in the terminal. --> <arg name="output" default="screen" /> <node name="$(arg node_name)" pkg="cloudwatch_logger" type="cloudwatch_logger" output="$(arg output)"> <!-- If the caller specified a config file then load it here. --> <rosparam if="$(eval config_file!='')" command="load" file="$(arg config_file)"/> </node> </launch>