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I don't think it's possible to do exactly what you're picturing using launch XML syntax.

You might want to investigate the roslaunch Python API. As of Lunar it supports passing command line arguments to launch files, which should let you add parameters to nodes.

Here's a ROS Answers post from 2017 (before the roslaunch API supported arguments) with some additional info on alternate approaches.

I don't think it's possible to do exactly what you're picturing you need using launch XML syntax.

You might want to investigate the roslaunch Python API. As of Lunar it supports passing command line arguments to launch files, which should let you add parameters to nodes.

Here's a ROS Answers post from 2017 (before the roslaunch API supported arguments) with some additional info on alternate approaches.