ROS2 IncludeLaunch如何传递参数？

小鱼

这是一个小伙伴问小鱼的问题，结果小鱼想当然了，发现并不是一件容易的事情，涉及到了launch的上下文问题。

下一个launch比如要从上文中才能获取到某个参数的值，给一个代码例程

launch1.py

from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import ThisLaunchFileDir



def generate_launch_description():
    test_p = LaunchConfiguration('test_p', default='12345678')
    
    return LaunchDescription([
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/launch2.py']),
            launch_arguments={'test_p': test_p}.items(),
        )
    ])

launch2.py

from launch import LaunchDescription
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import  SetParameter

def launch_setup(context, *args, **kwargs):
    test_p = LaunchConfiguration('test_p')
    print(f"use_sim_time: {test_p.perform(context)}")
    set_test_p = SetParameter(name="test_p", value=test_p)
    return [
        set_test_p,
    ]

def generate_launch_description():
    return LaunchDescription([
    OpaqueFunction(function=launch_setup),
    ])

运行打印

[INFO] [launch]: All log files can be found below 
[INFO] [launch]: Default logging verbosity is set to INFO
use_sim_time: 12345678

孤独的幸存者

这个代码是在launch1.py里调用launch2.py吧，参数是传给launch2.py了，但是怎么把参数传给launch2.py里的节点又是个大难题啊.
有没有大佬可以补充一下从launch1.py传参到launch2.py里的节点的代码呀。