Vehicle-cpp/Nav/autoware_src/autoware/common/emergency_handler/launch/emergency_handler.launch

<launch>
  <arg name="config_file" default="$(find emergency_handler)/config/emergency_handler.yaml"/>
  <node pkg="emergency_handler" type="emergency_handler" name="emergency_handler" output="screen" respawn="true"/>
  <rosparam command="delete" param="emergency_handler" />
  <rosparam command="load" file="$(arg config_file)" ns="emergency_handler"/>
</launch>