Roslaunch with Arguments

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Is it possible to spawn a different URDF to the param server depending on the different configurations of my robot from a single launchfile. I will also launch controllers specific to that robot configuration etc. I would like to only write one controller launch script, rather than for all the different configurations of my robot.

I think this may best be achieved with an argument passed to the launch file. Is this possible?? Something like:

roslaunch my_robot.launch 5_dof

Thanks!