lio-sam/launch/include/module_loam.launch

<launch>

    <arg name="project" default="lio_sam"/>
    
    <node pkg="$(arg project)" type="$(arg project)_imuPreintegration"   name="$(arg project)_imuPreintegration"    output="screen" 	respawn="true"/>
    <node pkg="$(arg project)" type="$(arg project)_imageProjection"     name="$(arg project)_imageProjection"      output="screen"     respawn="true"/>
    <node pkg="$(arg project)" type="$(arg project)_featureExtraction"   name="$(arg project)_featureExtraction"    output="screen"     respawn="true"/>
<!--    <node pkg="$(arg project)" type="$(arg project)_mapOptmization"      name="$(arg project)_mapOptmization"       output="screen"     respawn="true"/>-->
    <node pkg="$(arg project)" type="$(arg project)_localization"      name="$(arg project)_localization"       output="screen"     respawn="true"/>

</launch>