ROSLAUNCH

<launch>
<nodepkg=packagenametype=executablenamename=nodename
output=screen
respawn=true
required=true
launchprefix=xterme
ns=name_of_namespace
/>
<nodepkg=packagenametype=executablenamename=nodename>
<remapfrom=originalnameto=newname/>
</node>
<argname="argname"default="argvalue"/>
//$(argargname)

<includefile=pathtolaunchfile.launch/>
<includefile=$(findpackagename)/launchfilename.launch>
<argname="argname2"default="argvalue2"/>
</include>
<groupns=namespace/>

</group>
<groupif=0or1/></group>
<groupunless=0or1/></group>
<paramname=paramnamevalue=paramvalue/>
<paramname=background_colorvalue=blue/>
</launch>

Directingoutputtoconsole:roslaunchscreenpackagenamelaunchfilename
Launchnodeinseparateterminal:xtermerosrunpackagenamelaunchfilename
Remaptopic:rosrunpackagenamelaunchfilename/base_scan:=laser_base_scan