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As mentioned the literature on this topic is already well developed. But my 2 cents on the issue are the following: 1

1. arg is just a variable in a xml/launch file that has no specific relation to ROS 2.param in a launch file will load a single parameter to the roscore parameter server
   3.

As mentioned mentioned, the literature on this topic is already well developed. But in my 2 cents on experience learning ROS this was the issue are the following: 1most useful description for me:

1. arg is just a variable in a xml/launch file that has no specific relation to ROS 2.ROS

2. param in a launch file will load a single parameter to the roscore parameter server

   server
   3.

3. rosparam in a launch file can load entire yaml files of parameters to the parameter server