Vehicle-cpp/Nav/autoware_src/drivers/awf_drivers/ymc/launch/g30esli_interface.launch

<launch>
  <arg name="engaged" default="true"/>
  <arg name="device" default="can0"/>
  <arg name="steering_offset_deg" default="0.0"/>
  <arg name="command_timeout" default="1000"/>

  <arg name="use_ds4" default="false"/>
  <arg name="enable_reverse_motion" default="false"/>
  <arg name="ds4_wired" default="false"/>
  <arg name="ds4_timeout" default="1000"/>

  <node pkg="ymc" name="g30esli_interface" type="g30esli_interface" output="screen">
    <param name="engaged" value="$(arg engaged)"/>
    <param name="device" value="$(arg device)"/>
    <param name="use_ds4" value="$(arg use_ds4)"/>
    <param name="enable_reverse_motion" value="$(arg enable_reverse_motion)"/>
    <param name="steering_offset_deg" value="$(arg steering_offset_deg)"/>
    <param name="command_timeout" value="$(arg command_timeout)"/>
  </node>

  <include file="$(find ds4_driver)/launch/ds4_driver.launch" if="$(arg use_ds4)">
    <arg name="wired" value="$(arg ds4_wired)" />
    <arg name="timeout" value="$(arg ds4_timeout)" />
  </include>
</launch>