Problems with understanding of ros2 launch file migration process and param command atribute

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Hi. Sorry for all mistakes, English is not my native language. I know that in ROS2 there is not such thing as Parameter Server. In my launch files from ROS1 I have following lines:

<param command="xacro --inorder '$(find minicar_simulator)/urdf/minicar.gazebo.xacro'" name="robot_description"/>

and

<param command="xacro --inorder '$(find minicar_description)/urdf/minicar.xacro'" name="robot_description"/>

Following this guide I assume that param has no command attribute anymore. But if we look here than, apparently, command attribute still can be used. So my question is, can I use param command as I used it in ROS1? Appreciate any help.