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Have a look at this launch file from the nav2 system. To get access to runtime arguments, you first provide a LaunchConfiguration (like for namespace, at line 34), and then DeclareLaunchArgument (like lines 46-49). At this point, if you launch this file, you can use the syntax ros2 launch nav2_bringup bringup_launch.py namespace:=mycustomnamespace to specify the input. I found it useful to read the design documentation to understand the system a little better. It can be a little verbose, but it makes sense when you squint your eyes a little. :)