I have a general question about passing substitution arguments to your .yaml file. One of the things I'm having trouble with is passing different arguments to the yaml file. So the first time I pass the argument $(arg controlname) to the yaml file and it works. The second time lets say I want to pass the argument $(arg controlname_2) to it, it doesn't work.

I tried defining the argument within the rosparam tags but that didn't work either. Kindly an example of how I'm doing this below. Thanks for your help!

<arg name="control_name" value="racecar3" /> <rosparam file="$(find racecar_control)/config/racecar_control_gen.yaml" subst_value="true" command="load">$(arg control_name)</rosparam>

 $(arg controlname):
  # Publish all joint states -----------------------------------
  jointstatecontroller:
    type: jointstatecontroller/JointStateController
    publishrate: 50


# Velocity Controllers ---------------------------------------
  leftrearwheelvelocitycontroller:
    type: effortcontrollers/JointVelocityController
    joint: leftrearwheeljoint
    pid: {p: 1.0, i: 0.0, d: 0.0, iclamp: 0.0}
  rightrearwheelvelocitycontroller:
    type: effortcontrollers/JointVelocityController
    joint: rightrearwheeljoint
    pid: {p: 1.0, i: 0.0, d: 0.0, iclamp: 0.0}
  leftfrontwheelvelocitycontroller:
    type: effortcontrollers/JointVelocityController
    joint: leftfrontwheeljoint
    pid: {p: 0.5, i: 0.0, d: 0.0, iclamp: 0.0}
  rightfrontwheelvelocitycontroller:
    type: effortcontrollers/JointVelocityController
    joint: rightfrontwheeljoint
    pid: {p: 0.5, i: 0.0, d: 0.0, iclamp: 0.0}

# Position Controllers ---------------------------------------
  leftsteeringhingepositioncontroller:
    joint: leftsteeringhingejoint
    type: effortcontrollers/JointPositionController
    pid: {p: 10.0, i: 0.0, d: 0.5}
  rightsteeringhingepositioncontroller:
    joint: rightsteeringhingejoint
    type: effortcontrollers/JointPositionController
    pid: {p: 10.0, i: 0.0, d: 0.5}