Loading variables with xacro:include

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In roslaunch, if I include a file, I can pass it arguments like this:

 <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="worlds/empty.world" />
  </include>

Is there an equivalent for xacro:include? For example:

  <xacro:include filename="robot_description.urdf.xacro">
     <xacro:arg name="lidar" value="true"/>
  </xacro:include>

I know I can do this using something like:

<param name="robot_description" command="$(find xacro)/xacro.py robot_description.urdf.xacro lidar:=true" />

However, this is not an ideal solution, as I would like to nest my robot_description urdf in a larger definition of robot_description.