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Hi there,

This launch config works for my use case (Raspberry Pi 4 - ROS2 Galactic - run node as root with access to GPIO). You might need to add your user to /etc/sudoers to skip password prompt.

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='my_package',
            executable='my_node',
            namespace="",
            name='my_node',
            # Launch the node with root access (GPIO) in a shell
            prefix=["sudo -E env \"PYTHONPATH=$PYTHONPATH\" \"LD_LIBRARY_PATH=$LD_LIBRARY_PATH\" \"PATH=$PATH\" \"USER=$USER\"  bash -c "],
            shell=True,
        ),
    ])