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There is a tutorial about how to migrate launchfiles from ROS1 to ROS2: https://index.ros.org/doc/ros2/Tutorials/Launch-files-migration-guide/.

There are some XML examples in the demos, e.g. in this folder: https://github.com/ros2/demos/tree/master/demo_nodes_cpp/launch/topics.

It would be a great contribution to add more examples to the demos.

About your questions in the github issue:

If I have a launch file, how can I get it running?

ros2 launch /path/to/file_launch.xml

Do I need to create a package, do I need to add it in package.xml whatsoever...

No necessarily, as commented above. If you do want to install some launchfiles with a package, you can:

• (cpp package): https://github.com/ros2/demos/blob/948b4f4869298f39cfe99d3ae517ad60a72a8909/demo_nodes_cpp/CMakeLists.txt#L207-L211
• (python package): Install the launchfiles in the share folder using data_files argument of setuptools setup. Like here, but with a launchfile.

In those cases, you will be able to do:

ros2 launch package_name name_of_launch_file_launch.xml

In case you have problems running a specific launchfile, you can copy it here and I will try to help.

Best,

Ivan