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You can use something like this,

<node pkg="my_pkg" name="my_node type="my_node">
  <rosparam>
    key: value
    foo: bar
  </rosparam>
</node>

You can use something like this,

<node pkg="my_pkg" name="my_node name="my_node" type="my_node">
  <rosparam>
    key: value
    foo: bar
  </rosparam>
</node>

You can use something like this,

<node pkg="my_pkg" name="my_node" type="my_node">
  <rosparam>
    key: value
    foo: bar
  </rosparam>
</node>

EDIT: You can also make a yaml file and load it in your launch file like <rosparam file="$(find my_pkg)/config/my_params.yaml" />

You can use something like this,

<node pkg="my_pkg" name="my_node" type="my_node">
  <rosparam>
    key: value
    foo: bar
  </rosparam>
</node>

EDIT: EDIT:

You can also make a yaml file and load it in your launch file like <rosparam file="$(find my_pkg)/config/my_params.yaml" />