Launch File Suite

[manglemix]

What must be done
A lot of our everyday operations with the robot involves multiple nodes running concurrently, and many of our nodes require some parameters which do not change frequently. It would be ideal if we could encode all of this into launch files for specific scenarios.
At the very least, I want the following:

1. Motor nodes and telemetry client
2. RViz and telemetry server

Optionally:

1. Intel RealSense, Apriltag, and telemetry client
2. Pozyx, and telemetry client
3. Both of the above, and motor nodes and telemetry client

Existing internal solutions
We have used launch files extensively in usr-ws-2021, however launch files differ between ROS 1 & 2. I would suggest looking at the tutorials instead.