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Example:

Launch file:

<launch>
    <rosparam param="x_vector">[1.0, 2.0,
3.0]</rosparam>
    <node name="my_node" pkg="my_package" type="my_node" />
</launch>

Then in your node, get the vector like this:

std::vector<double> x_vec;
std::vector<double> x_vec_default = {1.0, 0.5, 0.5, 1.0};

n.param<std::vector<double> >("x_vector", x_vec, x_vec_default);

And x_vec will hold the values given in the launch file, or the contents in x_vec_default if the x_vector is not available as a parameter (for example if launching the node without the launch file).