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Node actions inherit from ExecuteProcess actions, so you can add the respawn parameters to the Node action. An example:
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(
package='orca_base',
executable='fake_barometer.py',
output='screen',
name='fake_barometer',
respawn=True,
respawn_delay=4,
)])