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Hello,

I used this tutorial to prepare a YAML configuration files to my launchfiles:

• https://roboticsbackend.com/ros2-yaml-params/

I think it could help you too :)

The most important things: - self.declare_parameters(...) in the code of your (Python) node - then, in the launch file:

config = os.path.join(
    get_package_share_directory('ros2_tutorials'),
    'config',
    'params.yaml'
    )

node=Node(
    package = 'your_ros2_package',
    name = 'your_amazing_node',
    executable = 'test_yaml_params',
    parameters = [config]
)

• additionally, in the setup.py in the package there should be something like this:

  data_files=[('share/ament_index/resource_index/packages', ['resource/' + package_name]), ('share/' + package_name, ['package.xml']), (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')), (os.path.join('share', package_name, 'config'), glob('config/*.yaml'))],