Is there any way to read a parameter in a launch xml file? For example, I set the value of a parameter at the top of the file, then lower in the file I read the parameter and use it for something. Or must this type of thing be done through environment variables? If so, this seems like a strange restriction. Is there any reasoning behind this? Ben Axelrod Research Scientist iRobot Corporation 8 Crosby Drive, Mail Stop 8-1 Bedford, MA 01730 (781) 430-3315 (Tel) (781) 960-2628 (Fax) baxelrod@irobot.com