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The easiest route is to use an example launch files from the ROS2 tutorials:

  • https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Creating-Launch-Files.html

  • https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Launch-Main.html

If you have your own package, you can base your dependencies in setup.py/CMakeLists.txt like there:

  • https://roboticsbackend.com/ros2-launch-file-example/