How to add walker and control it in ROS2 native

[HMX2013]

Setup
Describe the setup you are using to run CARLA along with its version:

• CARLA version: 0.9.16
• Platform: Ubuntu 22.04
• Python version: 3.10
• GPU: 3060
• GPU Drivers: 580.82.07

Describe the bug
Hello, I want to add a walker and a vehicle when using ROS 2 native in Carla 0.9.16
When using the ROS bridge, I can do this in the following way.
{
"objects":
[
{
"type": "sensor.pseudo.actor_list",
"id": "actor_list"
},
{
"type": "walker.pedestrian.0002",
"id": "walker_run",
"spawn_point": {"x": -112.7, "y": -83.8, "z": 0.2, "roll": 0.0, "pitch": 0.0, "yaw": 111.0},
"sensors":
[
{
"type": "sensor.pseudo.odom",
"id": "odometry"
},
{
"type": "sensor.pseudo.tf",
"id": "tf"
}
]
},
{
"type": "vehicle.rgsv1.v1",
"id": "ego_vehicle",
"spawn_point": {"x": -110.0, "y": -97.4, "z": 0.3, "roll": 0.0, "pitch": 0.0, "yaw": 111.0},
"sensors":
[
{
"type": "sensor.pseudo.tf",
"id": "tf"
},
{
"type": "sensor.pseudo.odom",
"id": "odometry"
},
{
"type": "actor.pseudo.control",
"id": "control"
}
]
}
]
}

But in the new ROS 2 native, I don't know how to modify the stack.json. It seems that I can only add one object.
I want to add one vehicle and one walker in the simulation with ROS2.

Steps to reproduce
Explain the steps needed to reproduce the issue.

Expected behavior
I want to add a walker and a vehicle in the simulation with ROS2. I can control the walker's movement through the ROS2 topic.

Logs
Paste the server and client logs. Server ones can be found at:

• Unreal Engine 4: Unreal/CarlaUE4/Saved/Logs
• Unreal Engine 5: Unreal/CarlaUnreal/Saved/Logs

Scripts
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Screenshots
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Additional context
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