global_parameter_server: ros__parameters: my_global_param: "Test" For this example we just have one string parameter, named my_global_param. ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=false [rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! Great! This article describes the launch system for ROS 2, and as the successor to the launch system in ROS 1 it makes sense to summarize the features and roles of roslaunch from ROS 1 and compare them to the goals of the launch system for ROS 2.. 1 2022-12-07: test_cli: Test command line arguments passed to ros2 executables. URDFURDF