test_launch.py

/shadow/state/eclipse_board:
  ros__parameters:
    baudrate: 9600
    port: '/dev/ttyTHS1'
      
      
 import launch
import launch.actions
import launch.substitutions
import launch_ros.actions
import os
from ament_index_python.packages import get_package_share_directory


def generate_launch_description():

    config = os.path.join(
        get_package_share_directory('shadow_launch'),
        'config',
        'config.yaml'
        )

    return launch.LaunchDescription([

        launch_ros.actions.Node(
            package='eclipse_board', executable='eclipse_board_driver', 
            output='screen',  parameters=[config],
            namespace="/shadow/state",
			remappings=[('/car_info', '/shadow/state/car_info')])
        
    ])