Go2Py_SIM/deploy/ros2_nodes/lidar_node/launch/start.py

from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory


def generate_launch_description():

    rviz_config = get_package_share_directory('hesai_ros_driver') + '/rviz/rviz2.rviz'

    return LaunchDescription(
        [
            Node(
                namespace='hesai_ros_driver',
                package='hesai_ros_driver',
                executable='hesai_ros_driver_node',
                output='screen'),
            Node(
                namespace='rviz2',
                package='rviz2',
                executable='rviz2',
                arguments=[
                    '-d',
                    rviz_config])])