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[1]ROS. "How to get length of array of geometry_msg:Points in service handle? - ROS Answers: Open Source Q", Answers, Available: https://answers.ros.org/question/358825/how-to-get-length-of-array-of-geometry_msgpoints-in-service-handle/.
[2]"ROS 2 Launch XML Format", Design, Available: https://design.ros2.org/articles/roslaunch_xml.html.
[3]The Robotics Back-End. "ROS2 YAML For Parameters - The Robotics Back-End", Roboticsbackend, Available: https://roboticsbackend.com/ros2-yaml-params/.