Pass ParameterFile in IncludeLaunchDescription as in Node.

[maksshmel007-code]

Description

I very love use ParameterFile to perform substitutions $(find-pkg-share ...) in config files. Like this

    # Get launch arg
    raw_config_file = LaunchConfiguration('config')
    
    # Substitude `$find-pkg-share` in file
    config_file = ParameterFile(
        raw_config_file,
        allow_substs=True,
    )

Why can I pass an ParameterFile to a Node, but can't to a LaunchConfiguration?

    #-------------velodyne_driver_node------------
    velodyne_driver_node = launch_ros.actions.Node(package='velodyne_driver',
                                                   executable='velodyne_driver_node',
                                                   output='both',
                                                   parameters=[config_file])

Don't work:

    slam_toolbox_lch = IncludeLaunchDescription(
                        PythonLaunchDescriptionSource(
                            PathJoinSubstitution([
                                slam_toolbox_dir,
                                'launch/localization_launch.py',
                            ])
                        ),
                        launch_arguments={'use_sim_time': 'false',
                                          'slam_params_file': config_file # here config_file is ParameterFile()
                                         }.items(),
                    )

I get this error:

[DEBUG] [launch]: Traceback (most recent call last):
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 336, in run_async
    raise completed_tasks_exceptions[0]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 230, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py", line 250, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 2 more times]
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/actions/include_launch_description.py", line 182, in execute
    set_launch_configuration_actions.append(SetLaunchConfiguration(name, value))
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/actions/set_launch_configuration.py", line 49, in __init__
    self.__value = normalize_to_list_of_substitutions(value)
  File "/opt/ros/humble/lib/python3.10/site-packages/launch/utilities/normalize_to_list_of_substitutions_impl.py", line 44, in normalize_to_list_of_substitutions
    return [normalize(y) for y in cast(Iterable, subs)]
TypeError: 'ParameterFile' object is not iterable

I understand that this is not a bug, but just IncludeLaunchDescription(launch_arguments=) and Node(parameters=) accept different types of data. And my question is whether it is possible in the future to make ParameterFile to be accepted both there and there?

Motivation

This would be very convenient and would look much simpler than using OpaqueFunction and context.

Design / Implementation Considerations

No response

Additional Information

This is my first issue, don't judge me harshly. I would appreciate recommendations and advice.