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I think you can use SetParameter in this case.

https://github.com/tier4/AutowareArchitectureProposal_launcher/blob/8cd04aabd4f07d867bd9f3d77241550a5b9263ab/autoware_launch/launch/logging_simulator.launch.xml#L25
https://github.com/tier4/AutowareArchitectureProposal.iv/blob/6adeec28d85dd41beaeb5a398ace899573bfda2a/common/util/autoware_global_parameter_loader/launch/global_params.launch.py#L27

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