<launch>
		<include
		file = "$(find packge-name)/launch-name.launch"
		/>

		<arg
			name = "arg-name"
			default = "x";
		/>

		<node
			pkg = "package-name"
			type = "executable-name"
			name = "node-name"
			ouput = "screen"
			respawn = "true"
			required = "true"
			launch-prefix = "xterm -e"
			ns = "namespace"
		>

		<remap from = "origin" to "new"/>
		<param name = "param-name" value = "param-value"/>

		</node> 

		<group ns = "namespace" if = "$(arg arg-name)"/>
			<param name = "param-name" value = "param-value"/>
		</group>
	    
	</launch>