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The setup you've described is fairly standard for a roslaunch file, and should be pretty straight forward to put together. In short you are just creating a launch file which runs your node and includes the launch files for the existing packages you are running. The skeleton will look something like this:

<launch>
     <node pkg="package_name" type="node" name="name">
     <include file=$(find ros_package_name)/path_to_launch.launch" />
     <include file=$(find ros_package_name)/path_to_launch.launch" />
</launch>

Check out the wiki page on roslaunch here, and if you need further help there is a very thorough chapter (Chapter 6) in the book "A Gentle Introduction to ROS" which is available for free here. If you still can't get it working after you've looked through all of that update your question with the attempt you've made and I'm sure someone will help troubleshoot!

The setup you've described is fairly standard for a roslaunch file, and should be pretty straight forward to put together. In short you are just creating a launch file which runs your node and includes the launch files for the existing packages you are running. The skeleton will look something like this:

<launch>
     <node pkg="package_name" type="node" name="name">
     <include file=$(find file="$(find ros_package_name)/path_to_launch.launch" />
     <include file=$(find file="$(find ros_package_name)/path_to_launch.launch" />
</launch>

Check out the wiki page on roslaunch here, and if you need further help there is a very thorough chapter (Chapter 6) in the book "A Gentle Introduction to ROS" which is available for free here. If you still can't get it working after you've looked through all of that update your question with the attempt you've made and I'm sure someone will help troubleshoot!

The setup you've described is fairly standard for a roslaunch file, and should be pretty straight forward to put together. In short you are just creating a launch file which runs your node and includes the launch files for the existing packages you are running. The skeleton will look something like this:

<launch>
     <node pkg="package_name" type="node" name="name">
name="name" />
     <include file="$(find ros_package_name)/path_to_launch.launch" />
     <include file="$(find ros_package_name)/path_to_launch.launch" />
</launch>

Check out the wiki page on roslaunch here, and if you need further help there is a very thorough chapter (Chapter 6) in the book "A Gentle Introduction to ROS" which is available for free here. If you still can't get it working after you've looked through all of that update your question with the attempt you've made and I'm sure someone will help troubleshoot!