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It's now possible to do that with, at least, the ROS2 Foxy version.

--ros-args -p scenario_id:="check_scenario"

I also think the format for specifying multiple parameters via YAML has also changed.

Instead of __params:=params.yaml you know need to do --ros-args --params-file params.yaml

See the "Summary" section of this document: https://design.ros2.org/articles/ros_command_line_arguments.html

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