Vehicle-cpp/Nav/autoware_src/drivers/awf_drivers/xsens_driver/launch/mti300.launch

<launch>

  <arg name="port" default="/dev/ttyUSB0" />
  <arg name="baudrate" default="115200" />
  <arg name="mode" default="2" />
  <arg name="frequency" default="100" />
  <arg name="boot_device" default="true" />
  
  <node pkg="xsens_driver" type="mtdevice.py" name="mtdevice"
    args="-d $(arg port) -m $(arg mode) -f $(arg frequency)" if="$(arg boot_device)" />

  <node pkg="xsens_driver" type="mtnode.py" name="mtnode" unless="$(arg boot_device)">
    <param name="device" value="$(arg port)" />
    <param name="baudrate" value="$(arg baudrate)" />
  </node>

</launch>