Does ROS2 launch.xml support inline yaml like <rosparam>?
In ROS1, you could inline your yaml file in the launch file with the <rosparam>
tag as described here.
Example:
<rosparam>
a: 1
b: 2
</rosparam>
Is this format supported in ROS2?
From the migration guide, it seems <rosparam>
is replaced with <param from>
which only supports taking in a yaml file
Additionally, how do I do substitution akin to the following
<rosparam param="whitelist" subst_value="True">$(arg whitelist)</rosparam>
using the new ROS2 xml syntax?
The second question has been asked here: https://answers.ros.org/question/3486...