Passing different arguments to a yaml configuration file
I have a general question about passing substitution arguments to your .yaml file. One of the things I'm having trouble with is passing different arguments to the yaml file. So the first time I pass the argument $(arg control_name) to the yaml file and it works. The second time lets say I want to pass the argument $(arg control_name_2) to it, it doesn't work.
I tried defining the argument within the rosparam tags but that didn't work either. Kindly an example of how I'm doing this below. Thanks for your help!
<arg name="control_name" value="racecar3" />
<rosparam file="$(find racecar_control)/config/racecar_control_gen.yaml" subst_value="true" command="load">$(arg control_name)</rosparam>
$(arg control_name): # Publish all joint states ----------------------------------- joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50 # Velocity Controllers --------------------------------------- left_rear_wheel_velocity_controller: type: effort_controllers/JointVelocityController joint: left_rear_wheel_joint pid: {p: 1.0, i: 0.0, d: 0.0, i_clamp: 0.0} right_rear_wheel_velocity_controller: type: effort_controllers/JointVelocityController joint: right_rear_wheel_joint pid: {p: 1.0, i: 0.0, d: 0.0, i_clamp: 0.0} left_front_wheel_velocity_controller: type: effort_controllers/JointVelocityController joint: left_front_wheel_joint pid: {p: 0.5, i: 0.0, d: 0.0, i_clamp: 0.0} right_front_wheel_velocity_controller: type: effort_controllers/JointVelocityController joint: right_front_wheel_joint pid: {p: 0.5, i: 0.0, d: 0.0, i_clamp: 0.0} # Position Controllers --------------------------------------- left_steering_hinge_position_controller: joint: left_steering_hinge_joint type: effort_controllers/JointPositionController pid: {p: 10.0, i: 0.0, d: 0.5} right_steering_hinge_position_controller: joint: right_steering_hinge_joint type: effort_controllers/JointPositionController pid: {p: 10.0, i: 0.0, d: 0.5}