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This is more a Linux/platform configuration issue than a ROS issue. Could you please post this sort of question on a more appropriate forum in the future?

I'm not sure it's the best way (or even the recommended way), but it would appear that configuring a default highlighter for specific file types is possible using a 'language definition file'.

See an I set a default syntax highlighting in Gedit? on Ask Ubuntu.

After I choose the option HTML in Plain Text Menu

Know that .launch files are XML, not HTML. If Gedit has a highlighter for that, I would use the XML highlighter.