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It seems there's still no direct support for loading components from XML files, for the time being I'm using the <executable> tag as below:

<?xml version="1.0" encoding="utf-8"?>

<launch>
  <node name="container" pkg="rclcpp_components" exec="component_container"/>

  <executable cmd="ros2 component load /container composition composition::Talker"/>
  <executable cmd="ros2 component load /container composition composition::Listener"/>
</launch>

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