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It's not well documented as I believe it's not really intended to be reused outside of roslaunch, but you do this by essentially calling substitution_args.py::resolve_args(..) (here).

An example can be seen in xacro here.

It's not well documented as I believe it's not really intended to be reused outside of roslaunch, but you do this by essentially calling substitution_args.py::resolve_args(..) (here).

An example can be seen in xacro here.