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There is a little tutorial here explainning how to write a launch file.

Is it OK if I add some lines into the launch file without any modification on the files kinds of CMakelist.txt?

Don't hesitate to try and see what happen ;) The answer is yes, CMakeLists.txt files are used to build your packages while launch file will simply look for the executables created after the building.

And also, can I include a node which is in another workspace?

Just to be clear : you include launch files but not nodes.

You can do that, it's called workspace overlaying but that requires to build your package accordingly, read carefully the documentation about this .

There is a little tutorial here explainning how to write a launch file.

Is it OK if I add some lines into the launch file without any modification on the files kinds of CMakelist.txt?

Don't hesitate to try and see what happen ;) The answer is yes, CMakeLists.txt files are used to build your packages while launch file will simply look for the executables created after the building.

And also, can I include a node which is in another workspace?

Just to be clear : you include launch files but not nodes.

You can do that, it's called workspace overlayingchaining but that requires to build your package accordingly, read carefully the documentation about this .