Vehicle-cpp/Nav/autoware_src/drivers/awf_drivers/analog_devices/launch/adxl345.launch

<launch>
  <arg name="device" default="/dev/ttyACM0"/>
  <arg name="with_plot" default="false"/>

  <node name="adxl345" pkg="adi_driver" type="adxl345_node">
    <param name="device" value="$(arg device)"/>
  </node>

  <group ns="plot" if="$(arg with_plot)">
    <node name="accl" pkg="rqt_plot" type="rqt_plot"
    args="/adxl345/data_raw/linear_acceleration/x:y:z"/>
  </group>

  <!-- Connect sensors before tests -->
  <test test-name="test_adxl345" pkg="adi_driver" type="test_adxl345.py"/>
  
</launch>