niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Use params from node '/**' from parameter YAML file (#762)

Browse source 
The short-term goal of this change is to enable the creation of a
parameter YAML file which is applied to each node, regardless of node
name or namespace.

Future work is to support all wildcard syntax in node names in
parameter YAML files.

Signed-off-by: Scott K Logan <logans@cottsay.net>
This commit is contained in:
Scott K Logan 2019-06-24 15:55:15 -07:00 • committed by GitHub
parent 2069594cc2
commit dff36c2f67
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 9 additions and 8 deletions
Download patch file Download diff file Expand all files Collapse all files

17
rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
View file

@ -144,15 +144,16 @@ NodeParameters::NodeParameters(
rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(yaml_params);
rcl_yaml_node_struct_fini(yaml_params);
auto iter = initial_map.find(combined_name_);
if (initial_map.end() == iter) {
continue;
}
// Combine parameter yaml files, overwriting values in older ones
for (auto & param : iter->second) {
parameter_overrides_[param.get_name()] =
rclcpp::ParameterValue(param.get_value_message());
for (auto iter = initial_map.begin(); initial_map.end() != iter; iter++) {
// TODO(cottsay) implement further wildcard matching
if (iter->first == "/**" || iter->first == combined_name_) {
// Combine parameter yaml files, overwriting values in older ones
for (auto & param : iter->second) {
parameter_overrides_[param.get_name()] =
rclcpp::ParameterValue(param.get_value_message());
}
}
}
}