Pull all example launchfiles into separate file with literalinclude (backport #5155)

[mergify]

Part of #5143

This way we can easily grab them for testing, manipulate programmatically, share without repeating (especially in block-by-block code walkthroughs), and maybe even run linters on them at some point to apply ROS 2 coding standards and maintain a consistent formatting.

I resisted the temptation to rewrite them, except for minor formatting fixes.

---

This is an automatic backport of pull request #5155 done by Mergify.

[mergify]

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  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   source/How-To-Guides/Launching-composable-nodes.rst
	new file:   source/How-To-Guides/launch/composition_launch.py
	new file:   source/How-To-Guides/launch/composition_launch.xml
	new file:   source/How-To-Guides/launch/composition_launch.yaml
	new file:   source/How-To-Guides/launch/composition_load_launch.py
	new file:   source/How-To-Guides/launch/composition_load_launch.xml
	new file:   source/How-To-Guides/launch/composition_load_launch.yaml
	new file:   source/How-To-Guides/launch/different_formats_launch.py
	new file:   source/How-To-Guides/launch/different_formats_launch.xml
	new file:   source/How-To-Guides/launch/different_formats_launch.yaml
	modified:   source/Tutorials/Beginner-CLI-Tools/Launching-Multiple-Nodes/Launching-Multiple-Nodes.rst
	new file:   source/Tutorials/Beginner-CLI-Tools/Launching-Multiple-Nodes/launch/multisim.launch.py
	modified:   source/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-CPP.rst
	modified:   source/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-Python.rst
	new file:   source/Tutorials/Beginner-Client-Libraries/launch/cpp_parameters_launch.py
	new file:   source/Tutorials/Beginner-Client-Libraries/launch/python_parameters_launch.py
	modified:   source/Tutorials/Intermediate/Launch/Creating-Launch-Files.rst
	modified:   source/Tutorials/Intermediate/Launch/Launch-system.rst
	new file:   source/Tutorials/Intermediate/Launch/launch/broadcast_listener_launch.py
	new file:   source/Tutorials/Intermediate/Launch/launch/example_event_handlers_launch.py
	new file:   source/Tutorials/Intermediate/Launch/launch/example_main_launch.py
	new file:   source/Tutorials/Intermediate/Launch/launch/example_main_launch.xml
	new file:   source/Tutorials/Intermediate/Launch/launch/example_main_launch.yaml
	new file:   source/Tutorials/Intermediate/Launch/launch/example_substitutions_launch.py
	new file:   source/Tutorials/Intermediate/Launch/launch/example_substitutions_launch.xml
	new file:   source/Tutorials/Intermediate/Launch/launch/example_substitutions_launch.yaml
	new file:   source/Tutorials/Intermediate/Launch/launch/fixed_broadcaster_launch.py
	new file:   source/Tutorials/Intermediate/Launch/launch/launch_turtlesim_launch.py
	new file:   source/Tutorials/Intermediate/Launch/launch/mimic_launch.py
	new file:   source/Tutorials/Intermediate/Launch/launch/my_script_launch.py
	new file:   source/Tutorials/Intermediate/Launch/launch/my_script_launch.xml
	new file:   source/Tutorials/Intermediate/Launch/launch/my_script_launch.yaml
	new file:   source/Tutorials/Intermediate/Launch/launch/turtlesim_mimic_launch.py
	new file:   source/Tutorials/Intermediate/Launch/launch/turtlesim_mimic_launch.xml
	new file:   source/Tutorials/Intermediate/Launch/launch/turtlesim_mimic_launch.yaml
	new file:   source/Tutorials/Intermediate/Launch/launch/turtlesim_rviz_launch.py
	new file:   source/Tutorials/Intermediate/Launch/launch/turtlesim_world_1_launch.py
	new file:   source/Tutorials/Intermediate/Launch/launch/turtlesim_world_2_launch.py
	new file:   source/Tutorials/Intermediate/Launch/launch/turtlesim_world_3_launch.py
	modified:   source/Tutorials/Intermediate/Tf2/Debugging-Tf2-Problems.rst
	modified:   source/Tutorials/Intermediate/Tf2/Using-Stamped-Datatypes-With-Tf2-Ros-MessageFilter.rst
	modified:   source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Cpp.rst
	modified:   source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Py.rst
	modified:   source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Listener-Cpp.rst
	modified:   source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Listener-Py.rst
	modified:   source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Static-Broadcaster-Cpp.rst
	modified:   source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Static-Broadcaster-Py.rst
	new file:   source/Tutorials/Intermediate/Tf2/launch/listener_cpp_launch.py
	new file:   source/Tutorials/Intermediate/Tf2/launch/listener_py_launch.py
	new file:   source/Tutorials/Intermediate/Tf2/launch/py_turtle_tf2_demo_launch.py
	new file:   source/Tutorials/Intermediate/Tf2/launch/py_turtle_tf2_dynamic_frame_demo_launch.py
	new file:   source/Tutorials/Intermediate/Tf2/launch/py_turtle_tf2_fixed_frame_demo_launch.py
	new file:   source/Tutorials/Intermediate/Tf2/launch/start_tf2_debug_demo_launch.py
	new file:   source/Tutorials/Intermediate/Tf2/launch/static_transform_publisher_launch.py
	new file:   source/Tutorials/Intermediate/Tf2/launch/turtle_tf2_demo_launch.py
	new file:   source/Tutorials/Intermediate/Tf2/launch/turtle_tf2_dynamic_frame_demo_launch.py
	new file:   source/Tutorials/Intermediate/Tf2/launch/turtle_tf2_fixed_frame_demo_launch.py
	new file:   source/Tutorials/Intermediate/Tf2/launch/turtle_tf2_sensor_message_launch.py
	modified:   source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst
	modified:   source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-py.rst
	modified:   source/Tutorials/Intermediate/URDF/Using-Xacro-to-Clean-Up-a-URDF-File.rst
	new file:   source/Tutorials/Intermediate/URDF/launch/demo_launch.py
	new file:   source/Tutorials/Intermediate/URDF/launch/launch.py
	new file:   source/Tutorials/Intermediate/URDF/launch/urdf_display_launch.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   source/How-To-Guides/Launch-file-different-formats.rst
	both modified:   source/Tutorials/Intermediate/Launch/Using-Event-Handlers.rst
	both modified:   source/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.rst
	both modified:   source/Tutorials/Intermediate/Launch/Using-Substitutions.rst
	both modified:   source/Tutorials/Intermediate/Tf2/Adding-A-Frame-Cpp.rst
	both modified:   source/Tutorials/Intermediate/Tf2/Adding-A-Frame-Py.rst

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[christophebedard]

Replaced by #5183