free_fleet/ff_examples_ros2/launch/turtlebot3_world_ff_server.launch.xml

<?xml version='1.0' ?>

<launch>

  <node pkg="free_fleet_server_ros2"
      exec="free_fleet_server_ros2"
      name="turtlebot3_fleet_server_node"
      output="both">

    <param name="fleet_name" value="turtlebot3"/>

    <param name="fleet_state_topic" value="fleet_states"/>
    <param name="mode_request_topic" value="robot_mode_requests"/>
    <param name="path_request_topic" value="robot_path_requests"/>
    <param name="destination_request_topic" value="robot_destination_requests"/>

    <param name="dds_domain" value="42"/>
    <param name="dds_robot_state_topic" value="robot_state"/>
    <param name="dds_mode_request_topic" value="mode_request"/>
    <param name="dds_path_request_topic" value="path_request"/>
    <param name="dds_destination_request_topic" value="destination_request"/>

    <param name="update_state_frequency" value="20.0"/>
    <param name="publish_state_frequency" value="2.0"/>

    <param name="translation_x" value="0.0"/>
    <param name="translation_y" value="0.0"/>
    <param name="rotation" value="0.0"/>
    <param name="scale" value="1.0"/>

  </node>

</launch>