From e8e6e476231de0a99a8451b6ce4edf52221adff6 Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Tue, 22 Sep 2020 17:39:49 +0800
Subject: [PATCH 01/14] Fix for allowing '//' in node name

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 rcl_yaml_param_parser/CMakeLists.txt          |  4 +-
 rcl_yaml_param_parser/package.xml             |  1 +
 rcl_yaml_param_parser/src/namespace.c         | 46 +++++++++++++++++++
 .../test/empty_name_in_ns.yaml                | 14 ++++++
 .../test/test_parse_yaml.cpp                  | 27 +++++++++++
 5 files changed, 91 insertions(+), 1 deletion(-)
 create mode 100644 rcl_yaml_param_parser/test/empty_name_in_ns.yaml

diff --git a/rcl_yaml_param_parser/CMakeLists.txt b/rcl_yaml_param_parser/CMakeLists.txt
index 2619eb627..dc8ad6dd3 100644
--- a/rcl_yaml_param_parser/CMakeLists.txt
+++ b/rcl_yaml_param_parser/CMakeLists.txt
@@ -4,6 +4,7 @@ project(rcl_yaml_param_parser)
 
 find_package(ament_cmake_ros REQUIRED)
 find_package(rcutils REQUIRED)
+find_package(rmw REQUIRED)
 find_package(libyaml_vendor REQUIRED)
 
 # Default to C++14
@@ -30,7 +31,7 @@ add_library(
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
-ament_target_dependencies(${PROJECT_NAME} "libyaml_vendor" "rcutils")
+ament_target_dependencies(${PROJECT_NAME} "libyaml_vendor" "rcutils" "rmw")
 
 # Set the visibility to hidden by default if possible
 if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID MATCHES "Clang")
@@ -181,6 +182,7 @@ if(BUILD_TESTING)
 endif()
 
 ament_export_dependencies(ament_cmake libyaml_vendor)
+ament_export_dependencies(rmw)
 ament_export_include_directories(include)
 install(
   DIRECTORY include/
diff --git a/rcl_yaml_param_parser/package.xml b/rcl_yaml_param_parser/package.xml
index 7d522bdd1..b4579d381 100644
--- a/rcl_yaml_param_parser/package.xml
+++ b/rcl_yaml_param_parser/package.xml
@@ -14,6 +14,7 @@
 
   <depend>libyaml_vendor</depend>
   <depend>yaml</depend>
+  <depend>rmw</depend>
   <build_depend>rcutils</build_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
diff --git a/rcl_yaml_param_parser/src/namespace.c b/rcl_yaml_param_parser/src/namespace.c
index 0ca3fed67..2e377b3e6 100644
--- a/rcl_yaml_param_parser/src/namespace.c
+++ b/rcl_yaml_param_parser/src/namespace.c
@@ -14,8 +14,48 @@
 
 #include "./impl/namespace.h"
 
+#include "rcutils/format_string.h"
 #include "rcutils/strdup.h"
 
+#include "rmw/error_handling.h"
+#include "rmw/validate_namespace.h"
+
+///
+/// Validate a name whether it is a valid namespace
+///
+static rcutils_ret_t
+__validate_namespace(const char * name, rcutils_allocator_t allocator)
+{
+  // rmw_validate_namespace will report RMW_NAMESPACE_INVALID_NOT_ABSOLUTE
+  // so add prefix '/' to name to make an absolute name if necessary
+  char * absolute_name = NULL;
+  if (name[0] != '/') {
+    absolute_name = rcutils_format_string(allocator, "/%s", name);
+    if (NULL == absolute_name) {
+      RCUTILS_SET_ERROR_MSG("failed to allocate memory for absolute name");
+      return RCUTILS_RET_BAD_ALLOC;
+    }
+  }
+  int validation_result = 0;
+  rmw_ret_t ret;
+  if (absolute_name) {
+    ret = rmw_validate_namespace(absolute_name, &validation_result, NULL);
+    allocator.deallocate(absolute_name, allocator.state);
+  } else {
+    ret = rmw_validate_namespace(name, &validation_result, NULL);
+  }
+  if (ret != RMW_RET_OK) {
+    RCUTILS_SET_ERROR_MSG(rmw_get_error_string().str);
+    return RCUTILS_RET_ERROR;
+  } else {
+    if (validation_result != RMW_NAMESPACE_VALID) {
+      RCUTILS_SET_ERROR_MSG(rmw_namespace_validation_result_string(validation_result));
+      return RCUTILS_RET_INVALID_ARGUMENT;
+    }
+  }
+  return RCUTILS_RET_OK;
+}
+
 rcutils_ret_t add_name_to_ns(
   namespace_tracker_t * ns_tracker,
   const char * name,
@@ -49,6 +89,12 @@ rcutils_ret_t add_name_to_ns(
   if (NULL == name) {
     return RCUTILS_RET_INVALID_ARGUMENT;
   }
+  if (namespace_type == NS_TYPE_NODE) {
+    rcutils_ret_t ret = __validate_namespace(name, allocator);
+    if (RCUTILS_RET_OK != ret) {
+      return ret;
+    }
+  }
   if (0U == *cur_count) {
     cur_ns = rcutils_strdup(name, allocator);
     if (NULL == cur_ns) {
diff --git a/rcl_yaml_param_parser/test/empty_name_in_ns.yaml b/rcl_yaml_param_parser/test/empty_name_in_ns.yaml
new file mode 100644
index 000000000..34230f409
--- /dev/null
+++ b/rcl_yaml_param_parser/test/empty_name_in_ns.yaml
@@ -0,0 +1,14 @@
+lidar_ns//lidar_w:
+  ros__parameters:
+    id: 10
+    name: front_lidar
+    ports: [2438, 2439, 2440]
+    driver1:
+      dx: 4.56
+      dy: 2.30
+      fr_sensor_specs: [12, 3, 0, 7]
+      bk_sensor_specs: [12.1, -2.3, 5.2, 9.0]
+    is_front: true
+    driver2:
+      dx: 1.23
+      dy: 0.45
diff --git a/rcl_yaml_param_parser/test/test_parse_yaml.cpp b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
index 89e1ec9e6..f53b0194f 100644
--- a/rcl_yaml_param_parser/test/test_parse_yaml.cpp
+++ b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
@@ -531,6 +531,33 @@ TEST(test_file_parser, special_float_point) {
   EXPECT_TRUE(std::isinf(param_value->double_array_value->values[6]));
 }
 
+TEST(test_file_parser, empty_name_in_ns) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(test_path, allocator.state);
+  });
+  char * path = rcutils_join_path(test_path, "empty_name_in_ns.yaml", allocator);
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(path, allocator.state);
+  });
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_yaml_node_struct_fini(params_hdl);
+  });
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  EXPECT_FALSE(res);
+}
+
 int32_t main(int32_t argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);

From 52bb028ffbb8b225e420fbef11e7c73f09d50bdb Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Wed, 23 Sep 2020 10:19:23 +0800
Subject: [PATCH 02/14] Remove rmw dependency, just to check two slashes

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 rcl_yaml_param_parser/CMakeLists.txt  |  4 +---
 rcl_yaml_param_parser/package.xml     |  1 -
 rcl_yaml_param_parser/src/namespace.c | 33 +++------------------------
 3 files changed, 4 insertions(+), 34 deletions(-)

diff --git a/rcl_yaml_param_parser/CMakeLists.txt b/rcl_yaml_param_parser/CMakeLists.txt
index dc8ad6dd3..2619eb627 100644
--- a/rcl_yaml_param_parser/CMakeLists.txt
+++ b/rcl_yaml_param_parser/CMakeLists.txt
@@ -4,7 +4,6 @@ project(rcl_yaml_param_parser)
 
 find_package(ament_cmake_ros REQUIRED)
 find_package(rcutils REQUIRED)
-find_package(rmw REQUIRED)
 find_package(libyaml_vendor REQUIRED)
 
 # Default to C++14
@@ -31,7 +30,7 @@ add_library(
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
-ament_target_dependencies(${PROJECT_NAME} "libyaml_vendor" "rcutils" "rmw")
+ament_target_dependencies(${PROJECT_NAME} "libyaml_vendor" "rcutils")
 
 # Set the visibility to hidden by default if possible
 if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID MATCHES "Clang")
@@ -182,7 +181,6 @@ if(BUILD_TESTING)
 endif()
 
 ament_export_dependencies(ament_cmake libyaml_vendor)
-ament_export_dependencies(rmw)
 ament_export_include_directories(include)
 install(
   DIRECTORY include/
diff --git a/rcl_yaml_param_parser/package.xml b/rcl_yaml_param_parser/package.xml
index b4579d381..7d522bdd1 100644
--- a/rcl_yaml_param_parser/package.xml
+++ b/rcl_yaml_param_parser/package.xml
@@ -14,7 +14,6 @@
 
   <depend>libyaml_vendor</depend>
   <depend>yaml</depend>
-  <depend>rmw</depend>
   <build_depend>rcutils</build_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
diff --git a/rcl_yaml_param_parser/src/namespace.c b/rcl_yaml_param_parser/src/namespace.c
index 2e377b3e6..7b9949c68 100644
--- a/rcl_yaml_param_parser/src/namespace.c
+++ b/rcl_yaml_param_parser/src/namespace.c
@@ -14,45 +14,18 @@
 
 #include "./impl/namespace.h"
 
-#include "rcutils/format_string.h"
 #include "rcutils/strdup.h"
 
-#include "rmw/error_handling.h"
-#include "rmw/validate_namespace.h"
-
 ///
 /// Validate a name whether it is a valid namespace
 ///
 static rcutils_ret_t
 __validate_namespace(const char * name, rcutils_allocator_t allocator)
 {
-  // rmw_validate_namespace will report RMW_NAMESPACE_INVALID_NOT_ABSOLUTE
-  // so add prefix '/' to name to make an absolute name if necessary
-  char * absolute_name = NULL;
-  if (name[0] != '/') {
-    absolute_name = rcutils_format_string(allocator, "/%s", name);
-    if (NULL == absolute_name) {
-      RCUTILS_SET_ERROR_MSG("failed to allocate memory for absolute name");
-      return RCUTILS_RET_BAD_ALLOC;
-    }
-  }
-  int validation_result = 0;
-  rmw_ret_t ret;
-  if (absolute_name) {
-    ret = rmw_validate_namespace(absolute_name, &validation_result, NULL);
-    allocator.deallocate(absolute_name, allocator.state);
-  } else {
-    ret = rmw_validate_namespace(name, &validation_result, NULL);
-  }
-  if (ret != RMW_RET_OK) {
-    RCUTILS_SET_ERROR_MSG(rmw_get_error_string().str);
-    return RCUTILS_RET_ERROR;
-  } else {
-    if (validation_result != RMW_NAMESPACE_VALID) {
-      RCUTILS_SET_ERROR_MSG(rmw_namespace_validation_result_string(validation_result));
-      return RCUTILS_RET_INVALID_ARGUMENT;
-    }
+  if (strstr(name, "//") != NULL) {
+    return RCUTILS_RET_INVALID_ARGUMENT;
   }
+
   return RCUTILS_RET_OK;
 }
 

From b84754426068dc646339626e4a3400ca906e1116 Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Wed, 23 Sep 2020 10:30:38 +0800
Subject: [PATCH 03/14] Fix compile warning

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 rcl_yaml_param_parser/src/namespace.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/rcl_yaml_param_parser/src/namespace.c b/rcl_yaml_param_parser/src/namespace.c
index 7b9949c68..b37ac69b9 100644
--- a/rcl_yaml_param_parser/src/namespace.c
+++ b/rcl_yaml_param_parser/src/namespace.c
@@ -20,7 +20,7 @@
 /// Validate a name whether it is a valid namespace
 ///
 static rcutils_ret_t
-__validate_namespace(const char * name, rcutils_allocator_t allocator)
+__validate_namespace(const char * name)
 {
   if (strstr(name, "//") != NULL) {
     return RCUTILS_RET_INVALID_ARGUMENT;
@@ -63,7 +63,7 @@ rcutils_ret_t add_name_to_ns(
     return RCUTILS_RET_INVALID_ARGUMENT;
   }
   if (namespace_type == NS_TYPE_NODE) {
-    rcutils_ret_t ret = __validate_namespace(name, allocator);
+    rcutils_ret_t ret = __validate_namespace(name);
     if (RCUTILS_RET_OK != ret) {
       return ret;
     }

From deba99e6c0775b4198bd88949975d20494053fbd Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Mon, 12 Oct 2020 11:09:57 +0800
Subject: [PATCH 04/14] Revert "Fix compile warning"

This reverts commit b84754426068dc646339626e4a3400ca906e1116.

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 rcl_yaml_param_parser/src/namespace.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/rcl_yaml_param_parser/src/namespace.c b/rcl_yaml_param_parser/src/namespace.c
index b37ac69b9..7b9949c68 100644
--- a/rcl_yaml_param_parser/src/namespace.c
+++ b/rcl_yaml_param_parser/src/namespace.c
@@ -20,7 +20,7 @@
 /// Validate a name whether it is a valid namespace
 ///
 static rcutils_ret_t
-__validate_namespace(const char * name)
+__validate_namespace(const char * name, rcutils_allocator_t allocator)
 {
   if (strstr(name, "//") != NULL) {
     return RCUTILS_RET_INVALID_ARGUMENT;
@@ -63,7 +63,7 @@ rcutils_ret_t add_name_to_ns(
     return RCUTILS_RET_INVALID_ARGUMENT;
   }
   if (namespace_type == NS_TYPE_NODE) {
-    rcutils_ret_t ret = __validate_namespace(name);
+    rcutils_ret_t ret = __validate_namespace(name, allocator);
     if (RCUTILS_RET_OK != ret) {
       return ret;
     }

From 83313f8bb881f39bbc9d9d3f67bf1cd22f97131c Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Mon, 12 Oct 2020 11:10:10 +0800
Subject: [PATCH 05/14] Revert "Remove rmw dependency, just to check two
 slashes"

This reverts commit 52bb028ffbb8b225e420fbef11e7c73f09d50bdb.

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 rcl_yaml_param_parser/CMakeLists.txt  |  4 +++-
 rcl_yaml_param_parser/package.xml     |  1 +
 rcl_yaml_param_parser/src/namespace.c | 33 ++++++++++++++++++++++++---
 3 files changed, 34 insertions(+), 4 deletions(-)

diff --git a/rcl_yaml_param_parser/CMakeLists.txt b/rcl_yaml_param_parser/CMakeLists.txt
index 2619eb627..dc8ad6dd3 100644
--- a/rcl_yaml_param_parser/CMakeLists.txt
+++ b/rcl_yaml_param_parser/CMakeLists.txt
@@ -4,6 +4,7 @@ project(rcl_yaml_param_parser)
 
 find_package(ament_cmake_ros REQUIRED)
 find_package(rcutils REQUIRED)
+find_package(rmw REQUIRED)
 find_package(libyaml_vendor REQUIRED)
 
 # Default to C++14
@@ -30,7 +31,7 @@ add_library(
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
-ament_target_dependencies(${PROJECT_NAME} "libyaml_vendor" "rcutils")
+ament_target_dependencies(${PROJECT_NAME} "libyaml_vendor" "rcutils" "rmw")
 
 # Set the visibility to hidden by default if possible
 if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID MATCHES "Clang")
@@ -181,6 +182,7 @@ if(BUILD_TESTING)
 endif()
 
 ament_export_dependencies(ament_cmake libyaml_vendor)
+ament_export_dependencies(rmw)
 ament_export_include_directories(include)
 install(
   DIRECTORY include/
diff --git a/rcl_yaml_param_parser/package.xml b/rcl_yaml_param_parser/package.xml
index 7d522bdd1..b4579d381 100644
--- a/rcl_yaml_param_parser/package.xml
+++ b/rcl_yaml_param_parser/package.xml
@@ -14,6 +14,7 @@
 
   <depend>libyaml_vendor</depend>
   <depend>yaml</depend>
+  <depend>rmw</depend>
   <build_depend>rcutils</build_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
diff --git a/rcl_yaml_param_parser/src/namespace.c b/rcl_yaml_param_parser/src/namespace.c
index 7b9949c68..2e377b3e6 100644
--- a/rcl_yaml_param_parser/src/namespace.c
+++ b/rcl_yaml_param_parser/src/namespace.c
@@ -14,18 +14,45 @@
 
 #include "./impl/namespace.h"
 
+#include "rcutils/format_string.h"
 #include "rcutils/strdup.h"
 
+#include "rmw/error_handling.h"
+#include "rmw/validate_namespace.h"
+
 ///
 /// Validate a name whether it is a valid namespace
 ///
 static rcutils_ret_t
 __validate_namespace(const char * name, rcutils_allocator_t allocator)
 {
-  if (strstr(name, "//") != NULL) {
-    return RCUTILS_RET_INVALID_ARGUMENT;
+  // rmw_validate_namespace will report RMW_NAMESPACE_INVALID_NOT_ABSOLUTE
+  // so add prefix '/' to name to make an absolute name if necessary
+  char * absolute_name = NULL;
+  if (name[0] != '/') {
+    absolute_name = rcutils_format_string(allocator, "/%s", name);
+    if (NULL == absolute_name) {
+      RCUTILS_SET_ERROR_MSG("failed to allocate memory for absolute name");
+      return RCUTILS_RET_BAD_ALLOC;
+    }
+  }
+  int validation_result = 0;
+  rmw_ret_t ret;
+  if (absolute_name) {
+    ret = rmw_validate_namespace(absolute_name, &validation_result, NULL);
+    allocator.deallocate(absolute_name, allocator.state);
+  } else {
+    ret = rmw_validate_namespace(name, &validation_result, NULL);
+  }
+  if (ret != RMW_RET_OK) {
+    RCUTILS_SET_ERROR_MSG(rmw_get_error_string().str);
+    return RCUTILS_RET_ERROR;
+  } else {
+    if (validation_result != RMW_NAMESPACE_VALID) {
+      RCUTILS_SET_ERROR_MSG(rmw_namespace_validation_result_string(validation_result));
+      return RCUTILS_RET_INVALID_ARGUMENT;
+    }
   }
-
   return RCUTILS_RET_OK;
 }
 

From 682d4db9123ae2d9683e6ae9cf206e2a8badeecf Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Mon, 12 Oct 2020 13:53:09 +0800
Subject: [PATCH 06/14] Update for a more general check

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 rcl_yaml_param_parser/src/namespace.c |  46 ----------
 rcl_yaml_param_parser/src/parse.c     | 123 ++++++++++++++++++++++++++
 2 files changed, 123 insertions(+), 46 deletions(-)

diff --git a/rcl_yaml_param_parser/src/namespace.c b/rcl_yaml_param_parser/src/namespace.c
index 2e377b3e6..0ca3fed67 100644
--- a/rcl_yaml_param_parser/src/namespace.c
+++ b/rcl_yaml_param_parser/src/namespace.c
@@ -14,48 +14,8 @@
 
 #include "./impl/namespace.h"
 
-#include "rcutils/format_string.h"
 #include "rcutils/strdup.h"
 
-#include "rmw/error_handling.h"
-#include "rmw/validate_namespace.h"
-
-///
-/// Validate a name whether it is a valid namespace
-///
-static rcutils_ret_t
-__validate_namespace(const char * name, rcutils_allocator_t allocator)
-{
-  // rmw_validate_namespace will report RMW_NAMESPACE_INVALID_NOT_ABSOLUTE
-  // so add prefix '/' to name to make an absolute name if necessary
-  char * absolute_name = NULL;
-  if (name[0] != '/') {
-    absolute_name = rcutils_format_string(allocator, "/%s", name);
-    if (NULL == absolute_name) {
-      RCUTILS_SET_ERROR_MSG("failed to allocate memory for absolute name");
-      return RCUTILS_RET_BAD_ALLOC;
-    }
-  }
-  int validation_result = 0;
-  rmw_ret_t ret;
-  if (absolute_name) {
-    ret = rmw_validate_namespace(absolute_name, &validation_result, NULL);
-    allocator.deallocate(absolute_name, allocator.state);
-  } else {
-    ret = rmw_validate_namespace(name, &validation_result, NULL);
-  }
-  if (ret != RMW_RET_OK) {
-    RCUTILS_SET_ERROR_MSG(rmw_get_error_string().str);
-    return RCUTILS_RET_ERROR;
-  } else {
-    if (validation_result != RMW_NAMESPACE_VALID) {
-      RCUTILS_SET_ERROR_MSG(rmw_namespace_validation_result_string(validation_result));
-      return RCUTILS_RET_INVALID_ARGUMENT;
-    }
-  }
-  return RCUTILS_RET_OK;
-}
-
 rcutils_ret_t add_name_to_ns(
   namespace_tracker_t * ns_tracker,
   const char * name,
@@ -89,12 +49,6 @@ rcutils_ret_t add_name_to_ns(
   if (NULL == name) {
     return RCUTILS_RET_INVALID_ARGUMENT;
   }
-  if (namespace_type == NS_TYPE_NODE) {
-    rcutils_ret_t ret = __validate_namespace(name, allocator);
-    if (RCUTILS_RET_OK != ret) {
-      return ret;
-    }
-  }
   if (0U == *cur_count) {
     cur_ns = rcutils_strdup(name, allocator);
     if (NULL == cur_ns) {
diff --git a/rcl_yaml_param_parser/src/parse.c b/rcl_yaml_param_parser/src/parse.c
index c60e382f7..1936676d5 100644
--- a/rcl_yaml_param_parser/src/parse.c
+++ b/rcl_yaml_param_parser/src/parse.c
@@ -18,8 +18,13 @@
 #include <string.h>
 
 #include "rcutils/allocator.h"
+#include "rcutils/format_string.h"
 #include "rcutils/strdup.h"
 
+#include "rmw/error_handling.h"
+#include "rmw/validate_namespace.h"
+#include "rmw/validate_node_name.h"
+
 #include "./impl/add_to_arrays.h"
 #include "./impl/parse.h"
 #include "./impl/namespace.h"
@@ -404,6 +409,118 @@ rcutils_ret_t parse_value(
   return ret;
 }
 
+///
+/// Check a name space whether it is valid
+///
+static rcutils_ret_t
+__validate_namespace(const char * namespace)
+{
+  int validation_result = 0;
+  rmw_ret_t ret;
+  ret = rmw_validate_namespace(namespace, &validation_result, NULL);
+  if (ret != RMW_RET_OK) {
+    RCUTILS_SET_ERROR_MSG(rmw_get_error_string().str);
+    return RCUTILS_RET_ERROR;
+  }
+  if (validation_result != RMW_NAMESPACE_VALID) {
+    RCUTILS_SET_ERROR_MSG(rmw_namespace_validation_result_string(validation_result));
+    return RCUTILS_RET_INVALID_ARGUMENT;
+  }
+
+  return RCUTILS_RET_OK;
+}
+
+///
+/// Check a node name whether it is valid
+///
+static rcutils_ret_t
+__validate_nodename(const char * name)
+{
+  int validation_result = 0;
+  rmw_ret_t ret;
+  ret = rmw_validate_node_name(name, &validation_result, NULL);
+  if (ret != RMW_RET_OK) {
+    RCUTILS_SET_ERROR_MSG(rmw_get_error_string().str);
+    return RCUTILS_RET_ERROR;
+  }
+  if (validation_result != RMW_NODE_NAME_VALID) {
+    RCUTILS_SET_ERROR_MSG(rmw_node_name_validation_result_string(validation_result));
+    return RCUTILS_RET_ERROR;
+  }
+
+  return RCUTILS_RET_OK;
+}
+
+///
+/// Check a name (namespace/node_name) whether it is valid
+///
+static rcutils_ret_t
+__validate_name(const char * name, rcutils_allocator_t allocator)
+{
+  // special rules
+  if (strcmp(name, "/**") == 0) {
+    return RCUTILS_RET_OK;
+  }
+
+  rcutils_ret_t ret = RCUTILS_RET_OK;
+  char * separator_pos = rindex(name, '/');
+  char * namespace = NULL;
+  char * node_name = NULL;
+  char * absolute_namespace = NULL;
+  if (NULL == separator_pos) {
+    node_name = rcutils_strdup(name, allocator);
+    if (NULL == node_name) {
+      ret = RCUTILS_RET_BAD_ALLOC;
+      goto clean;
+    }
+  } else {
+    namespace = rcutils_strndup(name, separator_pos - name, allocator);
+    if (NULL == namespace) {
+      ret = RCUTILS_RET_BAD_ALLOC;
+      goto clean;
+    }
+    if (namespace[0] != '/') {
+      absolute_namespace = rcutils_format_string(allocator, "/%s", namespace);
+      if (NULL == absolute_namespace) {
+        ret = RCUTILS_RET_BAD_ALLOC;
+        goto clean;
+      }
+    }
+    node_name = rcutils_strdup(separator_pos + 1, allocator);
+    if (NULL == node_name) {
+      ret = RCUTILS_RET_BAD_ALLOC;
+      goto clean;
+    }
+  }
+
+  if (absolute_namespace) {
+    ret = __validate_namespace(absolute_namespace);
+  } else if (namespace) {
+    ret = __validate_namespace(namespace);
+  }
+
+  if (ret != RCUTILS_RET_OK) {
+    goto clean;
+  }
+
+  ret = __validate_nodename(node_name);
+  if (ret != RCUTILS_RET_OK) {
+    goto clean;
+  }
+
+clean:
+  if (absolute_namespace) {
+    allocator.deallocate(absolute_namespace, allocator.state);
+  }
+  if (node_name) {
+    allocator.deallocate(node_name, allocator.state);
+  }
+  if (namespace) {
+    allocator.deallocate(namespace, allocator.state);
+  }
+  return ret;
+}
+
 ///
 /// Parse the key part of the <key:value> pair
 ///
@@ -466,6 +583,12 @@ rcutils_ret_t parse_key(
             break;
           }
 
+          ret = __validate_name(node_name_ns, allocator);
+          if (RCUTILS_RET_OK != ret) {
+            allocator.deallocate(node_name_ns, allocator.state);
+            break;
+          }
+
           ret = find_node(node_name_ns, params_st, node_idx);
           allocator.deallocate(node_name_ns, allocator.state);
           if (RCUTILS_RET_OK != ret) {

From c91c40eec9619d2ced3cc1d7570c20b682f749a3 Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Tue, 13 Oct 2020 09:44:37 +0800
Subject: [PATCH 07/14] Add a test case for wildcards

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 rcl_yaml_param_parser/src/parse.c             | 15 ++++++-----
 .../test/test_parse_yaml.cpp                  | 27 +++++++++++++++++++
 rcl_yaml_param_parser/test/wildcards.yaml     |  7 +++++
 3 files changed, 43 insertions(+), 6 deletions(-)
 create mode 100644 rcl_yaml_param_parser/test/wildcards.yaml

diff --git a/rcl_yaml_param_parser/src/parse.c b/rcl_yaml_param_parser/src/parse.c
index 1936676d5..3ce255672 100644
--- a/rcl_yaml_param_parser/src/parse.c
+++ b/rcl_yaml_param_parser/src/parse.c
@@ -418,11 +418,11 @@ __validate_namespace(const char * namespace)
   int validation_result = 0;
   rmw_ret_t ret;
   ret = rmw_validate_namespace(namespace, &validation_result, NULL);
-  if (ret != RMW_RET_OK) {
+  if (RMW_RET_OK != ret) {
     RCUTILS_SET_ERROR_MSG(rmw_get_error_string().str);
     return RCUTILS_RET_ERROR;
   }
-  if (validation_result != RMW_NAMESPACE_VALID) {
+  if (RMW_NAMESPACE_VALID != validation_result) {
     RCUTILS_SET_ERROR_MSG(rmw_namespace_validation_result_string(validation_result));
     return RCUTILS_RET_INVALID_ARGUMENT;
   }
@@ -439,11 +439,11 @@ __validate_nodename(const char * name)
   int validation_result = 0;
   rmw_ret_t ret;
   ret = rmw_validate_node_name(name, &validation_result, NULL);
-  if (ret != RMW_RET_OK) {
+  if (RMW_RET_OK != ret) {
     RCUTILS_SET_ERROR_MSG(rmw_get_error_string().str);
     return RCUTILS_RET_ERROR;
   }
-  if (validation_result != RMW_NODE_NAME_VALID) {
+  if (RMW_NODE_NAME_VALID != validation_result) {
     RCUTILS_SET_ERROR_MSG(rmw_node_name_validation_result_string(validation_result));
     return RCUTILS_RET_ERROR;
   }
@@ -451,6 +451,9 @@ __validate_nodename(const char * name)
   return RCUTILS_RET_OK;
 }
 
+///
+/// TODO(iuhilnehc-ynos): add more extra special rules when the design is determined
+///
 ///
 /// Check a name (namespace/node_name) whether it is valid
 ///
@@ -499,12 +502,12 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
     ret = __validate_namespace(namespace);
   }
 
-  if (ret != RCUTILS_RET_OK) {
+  if (RCUTILS_RET_OK != ret) {
     goto clean;
   }
 
   ret = __validate_nodename(node_name);
-  if (ret != RCUTILS_RET_OK) {
+  if (RCUTILS_RET_OK != ret) {
     goto clean;
   }
 
diff --git a/rcl_yaml_param_parser/test/test_parse_yaml.cpp b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
index f53b0194f..ca5c17af9 100644
--- a/rcl_yaml_param_parser/test/test_parse_yaml.cpp
+++ b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
@@ -558,6 +558,33 @@ TEST(test_file_parser, empty_name_in_ns) {
   EXPECT_FALSE(res);
 }
 
+TEST(test_file_parser, wildcards) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(test_path, allocator.state);
+  });
+  char * path = rcutils_join_path(test_path, "wildcards.yaml", allocator);
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(path, allocator.state);
+  });
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_yaml_node_struct_fini(params_hdl);
+  });
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+}
+
 int32_t main(int32_t argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
diff --git a/rcl_yaml_param_parser/test/wildcards.yaml b/rcl_yaml_param_parser/test/wildcards.yaml
new file mode 100644
index 000000000..fb4e71486
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards.yaml
@@ -0,0 +1,7 @@
+# config/test_yaml
+---
+
+/**:
+  ros__parameters:
+    id: 10
+    name: "front lidar"

From 94f127885f9227d10039e01940b4a39653e289f8 Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Tue, 13 Oct 2020 11:16:17 +0800
Subject: [PATCH 08/14] refactor for __validate_name

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 rcl_yaml_param_parser/src/parse.c | 17 +++++++----------
 1 file changed, 7 insertions(+), 10 deletions(-)

diff --git a/rcl_yaml_param_parser/src/parse.c b/rcl_yaml_param_parser/src/parse.c
index 3ce255672..99aff76ee 100644
--- a/rcl_yaml_param_parser/src/parse.c
+++ b/rcl_yaml_param_parser/src/parse.c
@@ -467,7 +467,6 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
 
   rcutils_ret_t ret = RCUTILS_RET_OK;
   char * separator_pos = rindex(name, '/');
-  char * namespace = NULL;
   char * node_name = NULL;
   char * absolute_namespace = NULL;
   if (NULL == separator_pos) {
@@ -477,6 +476,7 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
       goto clean;
     }
   } else {
+    char * namespace = NULL;
     namespace = rcutils_strndup(name, separator_pos - name, allocator);
     if (NULL == namespace) {
       ret = RCUTILS_RET_BAD_ALLOC;
@@ -484,10 +484,13 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
     }
     if (namespace[0] != '/') {
       absolute_namespace = rcutils_format_string(allocator, "/%s", namespace);
+      allocator.deallocate(namespace, allocator.state);
       if (NULL == absolute_namespace) {
         ret = RCUTILS_RET_BAD_ALLOC;
         goto clean;
       }
+    } else {
+      absolute_namespace = namespace;
     }
     node_name = rcutils_strdup(separator_pos + 1, allocator);
     if (NULL == node_name) {
@@ -498,12 +501,9 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
 
   if (absolute_namespace) {
     ret = __validate_namespace(absolute_namespace);
-  } else if (namespace) {
-    ret = __validate_namespace(namespace);
-  }
-
-  if (RCUTILS_RET_OK != ret) {
-    goto clean;
+    if (RCUTILS_RET_OK != ret) {
+      goto clean;
+    }
   }
 
   ret = __validate_nodename(node_name);
@@ -518,9 +518,6 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
   if (node_name) {
     allocator.deallocate(node_name, allocator.state);
   }
-  if (namespace) {
-    allocator.deallocate(namespace, allocator.state);
-  }
   return ret;
 }
 

From 07a92fa2ea4e40ff5b1928489a6547461179a721 Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Tue, 13 Oct 2020 13:40:02 +0800
Subject: [PATCH 09/14] Add extra special rules for wildcards

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 rcl_yaml_param_parser/src/parse.c             | 21 ++---
 .../test/test_parse_yaml.cpp                  | 81 +++++++++++++++++++
 .../test/wildcards_node.yaml                  |  8 ++
 rcl_yaml_param_parser/test/wildcards_ns.yaml  |  8 ++
 .../test/wildcards_separated.yaml             |  8 ++
 5 files changed, 116 insertions(+), 10 deletions(-)
 create mode 100644 rcl_yaml_param_parser/test/wildcards_node.yaml
 create mode 100644 rcl_yaml_param_parser/test/wildcards_ns.yaml
 create mode 100644 rcl_yaml_param_parser/test/wildcards_separated.yaml

diff --git a/rcl_yaml_param_parser/src/parse.c b/rcl_yaml_param_parser/src/parse.c
index 99aff76ee..77034a98f 100644
--- a/rcl_yaml_param_parser/src/parse.c
+++ b/rcl_yaml_param_parser/src/parse.c
@@ -451,9 +451,6 @@ __validate_nodename(const char * name)
   return RCUTILS_RET_OK;
 }
 
-///
-/// TODO(iuhilnehc-ynos): add more extra special rules when the design is determined
-///
 ///
 /// Check a name (namespace/node_name) whether it is valid
 ///
@@ -461,7 +458,7 @@ static rcutils_ret_t
 __validate_name(const char * name, rcutils_allocator_t allocator)
 {
   // special rules
-  if (strcmp(name, "/**") == 0) {
+  if (0 == strcmp(name, "/**")) {
     return RCUTILS_RET_OK;
   }
 
@@ -500,15 +497,19 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
   }
 
   if (absolute_namespace) {
-    ret = __validate_namespace(absolute_namespace);
-    if (RCUTILS_RET_OK != ret) {
-      goto clean;
+    if (0 != strcmp(absolute_namespace, "/**")) {
+      ret = __validate_namespace(absolute_namespace);
+      if (RCUTILS_RET_OK != ret) {
+        goto clean;
+      }
     }
   }
 
-  ret = __validate_nodename(node_name);
-  if (RCUTILS_RET_OK != ret) {
-    goto clean;
+  if (0 != strcmp(node_name, "*")) {
+    ret = __validate_nodename(node_name);
+    if (RCUTILS_RET_OK != ret) {
+      goto clean;
+    }
   }
 
 clean:
diff --git a/rcl_yaml_param_parser/test/test_parse_yaml.cpp b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
index ca5c17af9..874cceabe 100644
--- a/rcl_yaml_param_parser/test/test_parse_yaml.cpp
+++ b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
@@ -585,6 +585,87 @@ TEST(test_file_parser, wildcards) {
   EXPECT_TRUE(res) << rcutils_get_error_string().str;
 }
 
+TEST(test_file_parser, wildcards_ns) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(test_path, allocator.state);
+  });
+  char * path = rcutils_join_path(test_path, "wildcards_ns.yaml", allocator);
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(path, allocator.state);
+  });
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_yaml_node_struct_fini(params_hdl);
+  });
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+}
+
+TEST(test_file_parser, wildcards_node) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(test_path, allocator.state);
+  });
+  char * path = rcutils_join_path(test_path, "wildcards_node.yaml", allocator);
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(path, allocator.state);
+  });
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_yaml_node_struct_fini(params_hdl);
+  });
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+}
+
+TEST(test_file_parser, wildcards_separated) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(test_path, allocator.state);
+  });
+  char * path = rcutils_join_path(test_path, "wildcards_separated.yaml", allocator);
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(path, allocator.state);
+  });
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_yaml_node_struct_fini(params_hdl);
+  });
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+}
+
 int32_t main(int32_t argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
diff --git a/rcl_yaml_param_parser/test/wildcards_node.yaml b/rcl_yaml_param_parser/test/wildcards_node.yaml
new file mode 100644
index 000000000..abd8923e9
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_node.yaml
@@ -0,0 +1,8 @@
+# config/test_yaml
+---
+
+/foo:
+  "*":
+    ros__parameters:
+      id: 10
+      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_ns.yaml b/rcl_yaml_param_parser/test/wildcards_ns.yaml
new file mode 100644
index 000000000..411986b66
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_ns.yaml
@@ -0,0 +1,8 @@
+# config/test_yaml
+---
+
+/**:
+  some_node:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_separated.yaml b/rcl_yaml_param_parser/test/wildcards_separated.yaml
new file mode 100644
index 000000000..f254a1230
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_separated.yaml
@@ -0,0 +1,8 @@
+# config/test_yaml
+---
+
+/**:
+  "*":
+    ros__parameters:
+      id: 10
+      name: "front lidar"

From 97185bc425992b06d1c0491a6c40a0dd28954392 Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Tue, 13 Oct 2020 16:36:37 +0800
Subject: [PATCH 10/14] Update for /* wildcards

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 rcl_yaml_param_parser/src/parse.c             | 25 ++++--
 .../test/test_parse_yaml.cpp                  | 81 +++++++++++++++++++
 .../test/wildcards_node_slash.yaml            |  8 ++
 .../test/wildcards_ns_single.yaml             |  8 ++
 .../test/wildcards_single.yaml                |  7 ++
 5 files changed, 121 insertions(+), 8 deletions(-)
 create mode 100644 rcl_yaml_param_parser/test/wildcards_node_slash.yaml
 create mode 100644 rcl_yaml_param_parser/test/wildcards_ns_single.yaml
 create mode 100644 rcl_yaml_param_parser/test/wildcards_single.yaml

diff --git a/rcl_yaml_param_parser/src/parse.c b/rcl_yaml_param_parser/src/parse.c
index 77034a98f..86e23218a 100644
--- a/rcl_yaml_param_parser/src/parse.c
+++ b/rcl_yaml_param_parser/src/parse.c
@@ -458,7 +458,7 @@ static rcutils_ret_t
 __validate_name(const char * name, rcutils_allocator_t allocator)
 {
   // special rules
-  if (0 == strcmp(name, "/**")) {
+  if (0 == strcmp(name, "/**") || 0 == strcmp(name, "/*")) {
     return RCUTILS_RET_OK;
   }
 
@@ -473,8 +473,20 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
       goto clean;
     }
   } else {
+    node_name = rcutils_strdup(separator_pos + 1, allocator);
+    if (NULL == node_name) {
+      ret = RCUTILS_RET_BAD_ALLOC;
+      goto clean;
+    }
+
     char * namespace = NULL;
-    namespace = rcutils_strndup(name, separator_pos - name, allocator);
+    // Besides "*", node name also support /*.
+    if (0 == strcmp(node_name, "*") && '/' == name[separator_pos - name]) {
+      namespace = rcutils_strndup(name, separator_pos - name - 1, allocator);
+    } else {
+      namespace = rcutils_strndup(name, separator_pos - name, allocator);
+    }
+
     if (NULL == namespace) {
       ret = RCUTILS_RET_BAD_ALLOC;
       goto clean;
@@ -489,15 +501,12 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
     } else {
       absolute_namespace = namespace;
     }
-    node_name = rcutils_strdup(separator_pos + 1, allocator);
-    if (NULL == node_name) {
-      ret = RCUTILS_RET_BAD_ALLOC;
-      goto clean;
-    }
   }
 
   if (absolute_namespace) {
-    if (0 != strcmp(absolute_namespace, "/**")) {
+    if (0 != strcmp(absolute_namespace, "/**") &&
+      0 != strcmp(absolute_namespace, "/*"))
+    {
       ret = __validate_namespace(absolute_namespace);
       if (RCUTILS_RET_OK != ret) {
         goto clean;
diff --git a/rcl_yaml_param_parser/test/test_parse_yaml.cpp b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
index 874cceabe..597291bf1 100644
--- a/rcl_yaml_param_parser/test/test_parse_yaml.cpp
+++ b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
@@ -585,6 +585,33 @@ TEST(test_file_parser, wildcards) {
   EXPECT_TRUE(res) << rcutils_get_error_string().str;
 }
 
+TEST(test_file_parser, wildcards_single) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(test_path, allocator.state);
+  });
+  char * path = rcutils_join_path(test_path, "wildcards_single.yaml", allocator);
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(path, allocator.state);
+  });
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_yaml_node_struct_fini(params_hdl);
+  });
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+}
+
 TEST(test_file_parser, wildcards_ns) {
   rcutils_reset_error();
   EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
@@ -612,6 +639,33 @@ TEST(test_file_parser, wildcards_ns) {
   EXPECT_TRUE(res) << rcutils_get_error_string().str;
 }
 
+TEST(test_file_parser, wildcards_ns_single) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(test_path, allocator.state);
+  });
+  char * path = rcutils_join_path(test_path, "wildcards_ns_single.yaml", allocator);
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(path, allocator.state);
+  });
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_yaml_node_struct_fini(params_hdl);
+  });
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+}
+
 TEST(test_file_parser, wildcards_node) {
   rcutils_reset_error();
   EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
@@ -639,6 +693,33 @@ TEST(test_file_parser, wildcards_node) {
   EXPECT_TRUE(res) << rcutils_get_error_string().str;
 }
 
+TEST(test_file_parser, wildcards_node_slash) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(test_path, allocator.state);
+  });
+  char * path = rcutils_join_path(test_path, "wildcards_node_slash.yaml", allocator);
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(path, allocator.state);
+  });
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_yaml_node_struct_fini(params_hdl);
+  });
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+}
+
 TEST(test_file_parser, wildcards_separated) {
   rcutils_reset_error();
   EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
diff --git a/rcl_yaml_param_parser/test/wildcards_node_slash.yaml b/rcl_yaml_param_parser/test/wildcards_node_slash.yaml
new file mode 100644
index 000000000..8175f5f50
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_node_slash.yaml
@@ -0,0 +1,8 @@
+# config/test_yaml
+---
+
+/foo:
+  /*:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_ns_single.yaml b/rcl_yaml_param_parser/test/wildcards_ns_single.yaml
new file mode 100644
index 000000000..bb3f811c0
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_ns_single.yaml
@@ -0,0 +1,8 @@
+# config/test_yaml
+---
+
+/*:
+  some_node:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_single.yaml b/rcl_yaml_param_parser/test/wildcards_single.yaml
new file mode 100644
index 000000000..52edeb85c
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_single.yaml
@@ -0,0 +1,7 @@
+# config/test_yaml
+---
+
+/*:
+  ros__parameters:
+    id: 10
+    name: "front lidar"

From 1b2f77833e1cf4923e0d7a5c9cd8323742132570 Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Tue, 13 Oct 2020 16:44:42 +0800
Subject: [PATCH 11/14] Add more test case

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 .../test/test_parse_yaml.cpp                  | 27 +++++++++++++++++++
 .../test/wildcards_separated_slash.yaml       |  8 ++++++
 2 files changed, 35 insertions(+)
 create mode 100644 rcl_yaml_param_parser/test/wildcards_separated_slash.yaml

diff --git a/rcl_yaml_param_parser/test/test_parse_yaml.cpp b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
index 597291bf1..842f6fa34 100644
--- a/rcl_yaml_param_parser/test/test_parse_yaml.cpp
+++ b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
@@ -747,6 +747,33 @@ TEST(test_file_parser, wildcards_separated) {
   EXPECT_TRUE(res) << rcutils_get_error_string().str;
 }
 
+TEST(test_file_parser, wildcards_separated_slash) {
+  rcutils_reset_error();
+  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
+  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(test_path, allocator.state);
+  });
+  char * path = rcutils_join_path(test_path, "wildcards_separated_slash.yaml", allocator);
+  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(path, allocator.state);
+  });
+  EXPECT_TRUE(rcutils_exists(path));
+  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_yaml_node_struct_fini(params_hdl);
+  });
+  bool res = rcl_parse_yaml_file(path, params_hdl);
+  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+}
+
 int32_t main(int32_t argc, char ** argv)
 {
   ::testing::InitGoogleTest(&argc, argv);
diff --git a/rcl_yaml_param_parser/test/wildcards_separated_slash.yaml b/rcl_yaml_param_parser/test/wildcards_separated_slash.yaml
new file mode 100644
index 000000000..1add948d8
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_separated_slash.yaml
@@ -0,0 +1,8 @@
+# config/test_yaml
+---
+
+/**:
+  /*:
+    ros__parameters:
+      id: 10
+      name: "front lidar"

From dafd819601cfd84d22e7e70c8feb72371a102de3 Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Wed, 14 Oct 2020 13:42:44 +0800
Subject: [PATCH 12/14] Update for allowing wildcards at any location and add
 test cases for partial matches

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 rcl_yaml_param_parser/src/parse.c             |  55 +++--
 .../test/test_parse_yaml.cpp                  | 188 ++++--------------
 rcl_yaml_param_parser/test/wildcards.yaml     |  73 +++++++
 rcl_yaml_param_parser/test/wildcards_ns.yaml  |   8 -
 ...d_slash.yaml => wildcards_partial_01.yaml} |   3 +-
 ...parated.yaml => wildcards_partial_02.yaml} |   3 +-
 ...ds_node.yaml => wildcards_partial_03.yaml} |   3 +-
 ..._single.yaml => wildcards_partial_04.yaml} |   3 +-
 .../test/wildcards_partial_05.yaml            |   7 +
 .../test/wildcards_partial_06.yaml            |   7 +
 .../test/wildcards_partial_07.yaml            |   7 +
 .../test/wildcards_partial_08.yaml            |   7 +
 .../test/wildcards_partial_09.yaml            |   7 +
 .../test/wildcards_partial_10.yaml            |   7 +
 .../test/wildcards_partial_11.yaml            |   7 +
 .../test/wildcards_partial_12.yaml            |   7 +
 .../test/wildcards_single.yaml                |   7 -
 17 files changed, 206 insertions(+), 193 deletions(-)
 delete mode 100644 rcl_yaml_param_parser/test/wildcards_ns.yaml
 rename rcl_yaml_param_parser/test/{wildcards_separated_slash.yaml => wildcards_partial_01.yaml} (88%)
 rename rcl_yaml_param_parser/test/{wildcards_separated.yaml => wildcards_partial_02.yaml} (87%)
 rename rcl_yaml_param_parser/test/{wildcards_node.yaml => wildcards_partial_03.yaml} (86%)
 rename rcl_yaml_param_parser/test/{wildcards_ns_single.yaml => wildcards_partial_04.yaml} (83%)
 create mode 100644 rcl_yaml_param_parser/test/wildcards_partial_05.yaml
 create mode 100644 rcl_yaml_param_parser/test/wildcards_partial_06.yaml
 create mode 100644 rcl_yaml_param_parser/test/wildcards_partial_07.yaml
 create mode 100644 rcl_yaml_param_parser/test/wildcards_partial_08.yaml
 create mode 100644 rcl_yaml_param_parser/test/wildcards_partial_09.yaml
 create mode 100644 rcl_yaml_param_parser/test/wildcards_partial_10.yaml
 create mode 100644 rcl_yaml_param_parser/test/wildcards_partial_11.yaml
 create mode 100644 rcl_yaml_param_parser/test/wildcards_partial_12.yaml
 delete mode 100644 rcl_yaml_param_parser/test/wildcards_single.yaml

diff --git a/rcl_yaml_param_parser/src/parse.c b/rcl_yaml_param_parser/src/parse.c
index 86e23218a..916194621 100644
--- a/rcl_yaml_param_parser/src/parse.c
+++ b/rcl_yaml_param_parser/src/parse.c
@@ -473,20 +473,8 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
       goto clean;
     }
   } else {
-    node_name = rcutils_strdup(separator_pos + 1, allocator);
-    if (NULL == node_name) {
-      ret = RCUTILS_RET_BAD_ALLOC;
-      goto clean;
-    }
-
-    char * namespace = NULL;
-    // Besides "*", node name also support /*.
-    if (0 == strcmp(node_name, "*") && '/' == name[separator_pos - name]) {
-      namespace = rcutils_strndup(name, separator_pos - name - 1, allocator);
-    } else {
-      namespace = rcutils_strndup(name, separator_pos - name, allocator);
-    }
-
+    // substring namespace including the last '/'
+    char * namespace = rcutils_strndup(name, separator_pos - name + 1, allocator);
     if (NULL == namespace) {
       ret = RCUTILS_RET_BAD_ALLOC;
       goto clean;
@@ -501,20 +489,51 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
     } else {
       absolute_namespace = namespace;
     }
+
+    node_name = rcutils_strdup(separator_pos + 1, allocator);
+    if (NULL == node_name) {
+      ret = RCUTILS_RET_BAD_ALLOC;
+      goto clean;
+    }
   }
 
   if (absolute_namespace) {
-    if (0 != strcmp(absolute_namespace, "/**") &&
-      0 != strcmp(absolute_namespace, "/*"))
-    {
+    size_t i = 0;
+    separator_pos = index(absolute_namespace + i + 1, '/');
+    if (NULL == separator_pos) {
       ret = __validate_namespace(absolute_namespace);
       if (RCUTILS_RET_OK != ret) {
         goto clean;
       }
+    } else {
+      do {
+        size_t len = separator_pos - absolute_namespace - i;
+        char * namespace = rcutils_strndup(absolute_namespace + i, len, allocator);
+        if (NULL == namespace) {
+          ret = RCUTILS_RET_BAD_ALLOC;
+          goto clean;
+        }
+        if (0 == strcmp(namespace, "/")) {
+          RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
+            "%s contains repeated forward slash", absolute_namespace);
+          allocator.deallocate(namespace, allocator.state);
+          ret = RCUTILS_RET_INVALID_ARGUMENT;
+          goto clean;
+        }
+        if (0 != strcmp(namespace, "/**") && 0 != strcmp(namespace, "/*")) {
+          ret = __validate_namespace(namespace);
+          if (RCUTILS_RET_OK != ret) {
+            allocator.deallocate(namespace, allocator.state);
+            goto clean;
+          }
+        }
+        allocator.deallocate(namespace, allocator.state);
+        i += len;
+      } while (NULL != (separator_pos = index(absolute_namespace + i + 1, '/')));
     }
   }
 
-  if (0 != strcmp(node_name, "*")) {
+  if (0 != strcmp(node_name, "*") && 0 != strcmp(node_name, "**")) {
     ret = __validate_nodename(node_name);
     if (RCUTILS_RET_OK != ret) {
       goto clean;
diff --git a/rcl_yaml_param_parser/test/test_parse_yaml.cpp b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
index 842f6fa34..67ba2ebaa 100644
--- a/rcl_yaml_param_parser/test/test_parse_yaml.cpp
+++ b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
@@ -15,6 +15,8 @@
 #include <gtest/gtest.h>
 
 #include <cmath>
+#include <string>
+#include <vector>
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 
@@ -585,114 +587,6 @@ TEST(test_file_parser, wildcards) {
   EXPECT_TRUE(res) << rcutils_get_error_string().str;
 }
 
-TEST(test_file_parser, wildcards_single) {
-  rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
-  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    allocator.deallocate(test_path, allocator.state);
-  });
-  char * path = rcutils_join_path(test_path, "wildcards_single.yaml", allocator);
-  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    allocator.deallocate(path, allocator.state);
-  });
-  EXPECT_TRUE(rcutils_exists(path));
-  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    rcl_yaml_node_struct_fini(params_hdl);
-  });
-  bool res = rcl_parse_yaml_file(path, params_hdl);
-  EXPECT_TRUE(res) << rcutils_get_error_string().str;
-}
-
-TEST(test_file_parser, wildcards_ns) {
-  rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
-  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    allocator.deallocate(test_path, allocator.state);
-  });
-  char * path = rcutils_join_path(test_path, "wildcards_ns.yaml", allocator);
-  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    allocator.deallocate(path, allocator.state);
-  });
-  EXPECT_TRUE(rcutils_exists(path));
-  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    rcl_yaml_node_struct_fini(params_hdl);
-  });
-  bool res = rcl_parse_yaml_file(path, params_hdl);
-  EXPECT_TRUE(res) << rcutils_get_error_string().str;
-}
-
-TEST(test_file_parser, wildcards_ns_single) {
-  rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
-  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    allocator.deallocate(test_path, allocator.state);
-  });
-  char * path = rcutils_join_path(test_path, "wildcards_ns_single.yaml", allocator);
-  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    allocator.deallocate(path, allocator.state);
-  });
-  EXPECT_TRUE(rcutils_exists(path));
-  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    rcl_yaml_node_struct_fini(params_hdl);
-  });
-  bool res = rcl_parse_yaml_file(path, params_hdl);
-  EXPECT_TRUE(res) << rcutils_get_error_string().str;
-}
-
-TEST(test_file_parser, wildcards_node) {
-  rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
-  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    allocator.deallocate(test_path, allocator.state);
-  });
-  char * path = rcutils_join_path(test_path, "wildcards_node.yaml", allocator);
-  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    allocator.deallocate(path, allocator.state);
-  });
-  EXPECT_TRUE(rcutils_exists(path));
-  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    rcl_yaml_node_struct_fini(params_hdl);
-  });
-  bool res = rcl_parse_yaml_file(path, params_hdl);
-  EXPECT_TRUE(res) << rcutils_get_error_string().str;
-}
-
 TEST(test_file_parser, wildcards_node_slash) {
   rcutils_reset_error();
   EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
@@ -717,37 +611,10 @@ TEST(test_file_parser, wildcards_node_slash) {
     rcl_yaml_node_struct_fini(params_hdl);
   });
   bool res = rcl_parse_yaml_file(path, params_hdl);
-  EXPECT_TRUE(res) << rcutils_get_error_string().str;
-}
-
-TEST(test_file_parser, wildcards_separated) {
-  rcutils_reset_error();
-  EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  char * test_path = rcutils_join_path(cur_dir, "test", allocator);
-  ASSERT_TRUE(NULL != test_path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    allocator.deallocate(test_path, allocator.state);
-  });
-  char * path = rcutils_join_path(test_path, "wildcards_separated.yaml", allocator);
-  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    allocator.deallocate(path, allocator.state);
-  });
-  EXPECT_TRUE(rcutils_exists(path));
-  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    rcl_yaml_node_struct_fini(params_hdl);
-  });
-  bool res = rcl_parse_yaml_file(path, params_hdl);
-  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+  EXPECT_FALSE(res);
 }
 
-TEST(test_file_parser, wildcards_separated_slash) {
+TEST(test_file_parser, wildcards_partial) {
   rcutils_reset_error();
   EXPECT_TRUE(rcutils_get_cwd(cur_dir, 1024));
   rcutils_allocator_t allocator = rcutils_get_default_allocator();
@@ -757,21 +624,38 @@ TEST(test_file_parser, wildcards_separated_slash) {
   {
     allocator.deallocate(test_path, allocator.state);
   });
-  char * path = rcutils_join_path(test_path, "wildcards_separated_slash.yaml", allocator);
-  ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    allocator.deallocate(path, allocator.state);
-  });
-  EXPECT_TRUE(rcutils_exists(path));
-  rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
-  ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
-  {
-    rcl_yaml_node_struct_fini(params_hdl);
-  });
-  bool res = rcl_parse_yaml_file(path, params_hdl);
-  EXPECT_TRUE(res) << rcutils_get_error_string().str;
+  const std::vector<std::string> filenames = {
+    "wildcards_partial_01.yaml",
+    "wildcards_partial_02.yaml",
+    "wildcards_partial_03.yaml",
+    "wildcards_partial_04.yaml",
+    "wildcards_partial_05.yaml",
+    "wildcards_partial_06.yaml",
+    "wildcards_partial_07.yaml",
+    "wildcards_partial_08.yaml",
+    "wildcards_partial_09.yaml",
+    "wildcards_partial_10.yaml",
+    "wildcards_partial_11.yaml",
+    "wildcards_partial_12.yaml"
+  };
+
+  for (auto & filename : filenames) {
+    char * path = rcutils_join_path(test_path, filename.c_str(), allocator);
+    ASSERT_TRUE(NULL != path) << rcutils_get_error_string().str;
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      allocator.deallocate(path, allocator.state);
+    });
+    EXPECT_TRUE(rcutils_exists(path));
+    rcl_params_t * params_hdl = rcl_yaml_node_struct_init(allocator);
+    ASSERT_TRUE(NULL != params_hdl) << rcutils_get_error_string().str;
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      rcl_yaml_node_struct_fini(params_hdl);
+    });
+    bool res = rcl_parse_yaml_file(path, params_hdl);
+    EXPECT_FALSE(res);
+  }
 }
 
 int32_t main(int32_t argc, char ** argv)
diff --git a/rcl_yaml_param_parser/test/wildcards.yaml b/rcl_yaml_param_parser/test/wildcards.yaml
index fb4e71486..6507032c4 100644
--- a/rcl_yaml_param_parser/test/wildcards.yaml
+++ b/rcl_yaml_param_parser/test/wildcards.yaml
@@ -5,3 +5,76 @@
   ros__parameters:
     id: 10
     name: "front lidar"
+/*:
+  ros__parameters:
+    id: 10
+    name: "front lidar"
+/**/some_node1:
+  ros__parameters:
+    id: 10
+    name: "front lidar"
+/*/some_node2:
+  ros__parameters:
+    id: 10
+    name: "front lidar"
+/**:
+  some_node3:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
+/*:
+  some_node4:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
+/foo1/**:
+  ros__parameters:
+    id: 10
+    name: "front lidar"
+/foo2/*:
+  ros__parameters:
+    id: 10
+    name: "front lidar"
+/foo3/**:
+  some_node5:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
+/foo4/*:
+  some_node6:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
+/foo5:
+  "*":
+    ros__parameters:
+      id: 10
+      name: "front lidar"
+/foo6/**/some_node6:
+  ros__parameters:
+    id: 10
+    name: "front lidar"
+/foo7/*/some_node7:
+  ros__parameters:
+    id: 10
+    name: "front lidar"
+/foo8/**/bar:
+  some_node8:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
+/foo9/*/bar:
+  some_node9:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
+/foo10/**/bar:
+  bar1/bar2/**:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
+/foo11/*/bar:
+  bar1/bar2/*:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_ns.yaml b/rcl_yaml_param_parser/test/wildcards_ns.yaml
deleted file mode 100644
index 411986b66..000000000
--- a/rcl_yaml_param_parser/test/wildcards_ns.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-# config/test_yaml
----
-
-/**:
-  some_node:
-    ros__parameters:
-      id: 10
-      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_separated_slash.yaml b/rcl_yaml_param_parser/test/wildcards_partial_01.yaml
similarity index 88%
rename from rcl_yaml_param_parser/test/wildcards_separated_slash.yaml
rename to rcl_yaml_param_parser/test/wildcards_partial_01.yaml
index 1add948d8..129b382ca 100644
--- a/rcl_yaml_param_parser/test/wildcards_separated_slash.yaml
+++ b/rcl_yaml_param_parser/test/wildcards_partial_01.yaml
@@ -1,8 +1,7 @@
 # config/test_yaml
 ---
 
-/**:
-  /*:
+/foo**:
     ros__parameters:
       id: 10
       name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_separated.yaml b/rcl_yaml_param_parser/test/wildcards_partial_02.yaml
similarity index 87%
rename from rcl_yaml_param_parser/test/wildcards_separated.yaml
rename to rcl_yaml_param_parser/test/wildcards_partial_02.yaml
index f254a1230..94dc0ebfe 100644
--- a/rcl_yaml_param_parser/test/wildcards_separated.yaml
+++ b/rcl_yaml_param_parser/test/wildcards_partial_02.yaml
@@ -1,8 +1,7 @@
 # config/test_yaml
 ---
 
-/**:
-  "*":
+/**foo:
     ros__parameters:
       id: 10
       name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_node.yaml b/rcl_yaml_param_parser/test/wildcards_partial_03.yaml
similarity index 86%
rename from rcl_yaml_param_parser/test/wildcards_node.yaml
rename to rcl_yaml_param_parser/test/wildcards_partial_03.yaml
index abd8923e9..073ca5df4 100644
--- a/rcl_yaml_param_parser/test/wildcards_node.yaml
+++ b/rcl_yaml_param_parser/test/wildcards_partial_03.yaml
@@ -1,8 +1,7 @@
 # config/test_yaml
 ---
 
-/foo:
-  "*":
+/f**oo:
     ros__parameters:
       id: 10
       name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_ns_single.yaml b/rcl_yaml_param_parser/test/wildcards_partial_04.yaml
similarity index 83%
rename from rcl_yaml_param_parser/test/wildcards_ns_single.yaml
rename to rcl_yaml_param_parser/test/wildcards_partial_04.yaml
index bb3f811c0..db100762c 100644
--- a/rcl_yaml_param_parser/test/wildcards_ns_single.yaml
+++ b/rcl_yaml_param_parser/test/wildcards_partial_04.yaml
@@ -1,8 +1,7 @@
 # config/test_yaml
 ---
 
-/*:
-  some_node:
+/foo*:
     ros__parameters:
       id: 10
       name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_partial_05.yaml b/rcl_yaml_param_parser/test/wildcards_partial_05.yaml
new file mode 100644
index 000000000..63998422d
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_partial_05.yaml
@@ -0,0 +1,7 @@
+# config/test_yaml
+---
+
+/*foo:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_partial_06.yaml b/rcl_yaml_param_parser/test/wildcards_partial_06.yaml
new file mode 100644
index 000000000..785abd55f
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_partial_06.yaml
@@ -0,0 +1,7 @@
+# config/test_yaml
+---
+
+/f*oo:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_partial_07.yaml b/rcl_yaml_param_parser/test/wildcards_partial_07.yaml
new file mode 100644
index 000000000..5833f75fb
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_partial_07.yaml
@@ -0,0 +1,7 @@
+# config/test_yaml
+---
+
+/**/node**:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_partial_08.yaml b/rcl_yaml_param_parser/test/wildcards_partial_08.yaml
new file mode 100644
index 000000000..b8028c5b7
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_partial_08.yaml
@@ -0,0 +1,7 @@
+# config/test_yaml
+---
+
+/**/**node:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_partial_09.yaml b/rcl_yaml_param_parser/test/wildcards_partial_09.yaml
new file mode 100644
index 000000000..68ab60ba0
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_partial_09.yaml
@@ -0,0 +1,7 @@
+# config/test_yaml
+---
+
+/**/n**ode:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_partial_10.yaml b/rcl_yaml_param_parser/test/wildcards_partial_10.yaml
new file mode 100644
index 000000000..4acee370e
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_partial_10.yaml
@@ -0,0 +1,7 @@
+# config/test_yaml
+---
+
+/**/*node:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_partial_11.yaml b/rcl_yaml_param_parser/test/wildcards_partial_11.yaml
new file mode 100644
index 000000000..1fda39672
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_partial_11.yaml
@@ -0,0 +1,7 @@
+# config/test_yaml
+---
+
+/**/node*:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_partial_12.yaml b/rcl_yaml_param_parser/test/wildcards_partial_12.yaml
new file mode 100644
index 000000000..b3bc972dc
--- /dev/null
+++ b/rcl_yaml_param_parser/test/wildcards_partial_12.yaml
@@ -0,0 +1,7 @@
+# config/test_yaml
+---
+
+/**/n*ode:
+    ros__parameters:
+      id: 10
+      name: "front lidar"
diff --git a/rcl_yaml_param_parser/test/wildcards_single.yaml b/rcl_yaml_param_parser/test/wildcards_single.yaml
deleted file mode 100644
index 52edeb85c..000000000
--- a/rcl_yaml_param_parser/test/wildcards_single.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-# config/test_yaml
----
-
-/*:
-  ros__parameters:
-    id: 10
-    name: "front lidar"

From 72f8dfc6c5003e968a8997d4f447be203cf1b095 Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Fri, 16 Oct 2020 10:51:44 +0800
Subject: [PATCH 13/14] Fix for ci on arch64 and windows platform

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 rcl_yaml_param_parser/CMakeLists.txt |  1 +
 rcl_yaml_param_parser/src/parse.c    | 60 ++++++++++++++++++++--------
 2 files changed, 44 insertions(+), 17 deletions(-)

diff --git a/rcl_yaml_param_parser/CMakeLists.txt b/rcl_yaml_param_parser/CMakeLists.txt
index dc8ad6dd3..218801b5c 100644
--- a/rcl_yaml_param_parser/CMakeLists.txt
+++ b/rcl_yaml_param_parser/CMakeLists.txt
@@ -127,6 +127,7 @@ if(BUILD_TESTING)
   ament_add_gtest(test_parser_multiple_nodes
     test/test_parser_multiple_nodes.cpp
     WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+    TIMEOUT 240  # Large timeout to wait for fault injection tests
   )
   if(TARGET test_parser_multiple_nodes)
     ament_target_dependencies(test_parser_multiple_nodes
diff --git a/rcl_yaml_param_parser/src/parse.c b/rcl_yaml_param_parser/src/parse.c
index 916194621..c04fa8509 100644
--- a/rcl_yaml_param_parser/src/parse.c
+++ b/rcl_yaml_param_parser/src/parse.c
@@ -31,6 +31,41 @@
 #include "./impl/node_params.h"
 #include "rcl_yaml_param_parser/parser.h"
 
+///
+/// Check a name space whether it is valid
+///
+/// \param[in] namespace the namespace to check
+/// \return RCUTILS_RET_OK if namespace is valid, or
+/// \return RCUTILS_RET_INVALID_ARGUMENT if namespace is not valid, or
+/// \return RCUTILS_RET_ERROR if an unspecified error occurred.
+RCL_YAML_PARAM_PARSER_LOCAL
+rcutils_ret_t
+__validate_namespace(const char * namespace);
+
+///
+/// Check a node name whether it is valid
+///
+/// \param[in] name the node name to check
+/// \return RCUTILS_RET_OK if the node name is valid, or
+/// \return RCUTILS_RET_INVALID_ARGUMENT if node name is not valid, or
+/// \return RCUTILS_RET_ERROR if an unspecified error occurred.
+RCL_YAML_PARAM_PARSER_LOCAL
+rcutils_ret_t
+__validate_nodename(const char * node_name);
+
+///
+/// Check a name (namespace/node_name) whether it is valid
+///
+/// \param name the name to check
+/// \param allocator an allocator to use
+/// \return RCUTILS_RET_OK if name is valid, or
+/// \return RCUTILS_RET_INVALID_ARGUMENT if name is not valid, or
+/// \return RCL_RET_BAD_ALLOC if an allocation failed, or
+/// \return RCUTILS_RET_ERROR if an unspecified error occurred.
+RCL_YAML_PARAM_PARSER_LOCAL
+rcutils_ret_t
+__validate_name(const char * name, rcutils_allocator_t allocator);
+
 ///
 /// Determine the type of the value and return the converted value
 /// NOTE: Only canonical forms supported as of now
@@ -409,10 +444,7 @@ rcutils_ret_t parse_value(
   return ret;
 }
 
-///
-/// Check a name space whether it is valid
-///
-static rcutils_ret_t
+rcutils_ret_t
 __validate_namespace(const char * namespace)
 {
   int validation_result = 0;
@@ -430,31 +462,25 @@ __validate_namespace(const char * namespace)
   return RCUTILS_RET_OK;
 }
 
-///
-/// Check a node name whether it is valid
-///
-static rcutils_ret_t
-__validate_nodename(const char * name)
+rcutils_ret_t
+__validate_nodename(const char * node_name)
 {
   int validation_result = 0;
   rmw_ret_t ret;
-  ret = rmw_validate_node_name(name, &validation_result, NULL);
+  ret = rmw_validate_node_name(node_name, &validation_result, NULL);
   if (RMW_RET_OK != ret) {
     RCUTILS_SET_ERROR_MSG(rmw_get_error_string().str);
     return RCUTILS_RET_ERROR;
   }
   if (RMW_NODE_NAME_VALID != validation_result) {
     RCUTILS_SET_ERROR_MSG(rmw_node_name_validation_result_string(validation_result));
-    return RCUTILS_RET_ERROR;
+    return RCUTILS_RET_INVALID_ARGUMENT;
   }
 
   return RCUTILS_RET_OK;
 }
 
-///
-/// Check a name (namespace/node_name) whether it is valid
-///
-static rcutils_ret_t
+rcutils_ret_t
 __validate_name(const char * name, rcutils_allocator_t allocator)
 {
   // special rules
@@ -463,7 +489,7 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
   }
 
   rcutils_ret_t ret = RCUTILS_RET_OK;
-  char * separator_pos = rindex(name, '/');
+  char * separator_pos = strrchr(name, '/');
   char * node_name = NULL;
   char * absolute_namespace = NULL;
   if (NULL == separator_pos) {
@@ -499,7 +525,7 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
 
   if (absolute_namespace) {
     size_t i = 0;
-    separator_pos = index(absolute_namespace + i + 1, '/');
+    separator_pos = strchr(absolute_namespace + i + 1, '/');
     if (NULL == separator_pos) {
       ret = __validate_namespace(absolute_namespace);
       if (RCUTILS_RET_OK != ret) {

From dda7f86666afceeecf84b3a1a07c97a1fd7e6065 Mon Sep 17 00:00:00 2001
From: Chen Lihui <Lihui.Chen@sony.com>
Date: Sat, 17 Oct 2020 12:44:19 +0800
Subject: [PATCH 14/14] Fix for ci on macOS and windows platform

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---
 rcl_yaml_param_parser/src/parse.c | 51 ++++++++++++++++---------------
 1 file changed, 26 insertions(+), 25 deletions(-)

diff --git a/rcl_yaml_param_parser/src/parse.c b/rcl_yaml_param_parser/src/parse.c
index c04fa8509..c7cd69c7f 100644
--- a/rcl_yaml_param_parser/src/parse.c
+++ b/rcl_yaml_param_parser/src/parse.c
@@ -30,6 +30,7 @@
 #include "./impl/namespace.h"
 #include "./impl/node_params.h"
 #include "rcl_yaml_param_parser/parser.h"
+#include "rcl_yaml_param_parser/visibility_control.h"
 
 ///
 /// Check a name space whether it is valid
@@ -40,7 +41,7 @@
 /// \return RCUTILS_RET_ERROR if an unspecified error occurred.
 RCL_YAML_PARAM_PARSER_LOCAL
 rcutils_ret_t
-__validate_namespace(const char * namespace);
+_validate_namespace(const char * namespace_);
 
 ///
 /// Check a node name whether it is valid
@@ -51,7 +52,7 @@ __validate_namespace(const char * namespace);
 /// \return RCUTILS_RET_ERROR if an unspecified error occurred.
 RCL_YAML_PARAM_PARSER_LOCAL
 rcutils_ret_t
-__validate_nodename(const char * node_name);
+_validate_nodename(const char * node_name);
 
 ///
 /// Check a name (namespace/node_name) whether it is valid
@@ -64,7 +65,7 @@ __validate_nodename(const char * node_name);
 /// \return RCUTILS_RET_ERROR if an unspecified error occurred.
 RCL_YAML_PARAM_PARSER_LOCAL
 rcutils_ret_t
-__validate_name(const char * name, rcutils_allocator_t allocator);
+_validate_name(const char * name, rcutils_allocator_t allocator);
 
 ///
 /// Determine the type of the value and return the converted value
@@ -445,11 +446,11 @@ rcutils_ret_t parse_value(
 }
 
 rcutils_ret_t
-__validate_namespace(const char * namespace)
+_validate_namespace(const char * namespace_)
 {
   int validation_result = 0;
   rmw_ret_t ret;
-  ret = rmw_validate_namespace(namespace, &validation_result, NULL);
+  ret = rmw_validate_namespace(namespace_, &validation_result, NULL);
   if (RMW_RET_OK != ret) {
     RCUTILS_SET_ERROR_MSG(rmw_get_error_string().str);
     return RCUTILS_RET_ERROR;
@@ -463,7 +464,7 @@ __validate_namespace(const char * namespace)
 }
 
 rcutils_ret_t
-__validate_nodename(const char * node_name)
+_validate_nodename(const char * node_name)
 {
   int validation_result = 0;
   rmw_ret_t ret;
@@ -481,7 +482,7 @@ __validate_nodename(const char * node_name)
 }
 
 rcutils_ret_t
-__validate_name(const char * name, rcutils_allocator_t allocator)
+_validate_name(const char * name, rcutils_allocator_t allocator)
 {
   // special rules
   if (0 == strcmp(name, "/**") || 0 == strcmp(name, "/*")) {
@@ -500,20 +501,20 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
     }
   } else {
     // substring namespace including the last '/'
-    char * namespace = rcutils_strndup(name, separator_pos - name + 1, allocator);
-    if (NULL == namespace) {
+    char * namespace_ = rcutils_strndup(name, separator_pos - name + 1, allocator);
+    if (NULL == namespace_) {
       ret = RCUTILS_RET_BAD_ALLOC;
       goto clean;
     }
-    if (namespace[0] != '/') {
-      absolute_namespace = rcutils_format_string(allocator, "/%s", namespace);
-      allocator.deallocate(namespace, allocator.state);
+    if (namespace_[0] != '/') {
+      absolute_namespace = rcutils_format_string(allocator, "/%s", namespace_);
+      allocator.deallocate(namespace_, allocator.state);
       if (NULL == absolute_namespace) {
         ret = RCUTILS_RET_BAD_ALLOC;
         goto clean;
       }
     } else {
-      absolute_namespace = namespace;
+      absolute_namespace = namespace_;
     }
 
     node_name = rcutils_strdup(separator_pos + 1, allocator);
@@ -527,40 +528,40 @@ __validate_name(const char * name, rcutils_allocator_t allocator)
     size_t i = 0;
     separator_pos = strchr(absolute_namespace + i + 1, '/');
     if (NULL == separator_pos) {
-      ret = __validate_namespace(absolute_namespace);
+      ret = _validate_namespace(absolute_namespace);
       if (RCUTILS_RET_OK != ret) {
         goto clean;
       }
     } else {
       do {
         size_t len = separator_pos - absolute_namespace - i;
-        char * namespace = rcutils_strndup(absolute_namespace + i, len, allocator);
-        if (NULL == namespace) {
+        char * namespace_ = rcutils_strndup(absolute_namespace + i, len, allocator);
+        if (NULL == namespace_) {
           ret = RCUTILS_RET_BAD_ALLOC;
           goto clean;
         }
-        if (0 == strcmp(namespace, "/")) {
+        if (0 == strcmp(namespace_, "/")) {
           RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
             "%s contains repeated forward slash", absolute_namespace);
-          allocator.deallocate(namespace, allocator.state);
+          allocator.deallocate(namespace_, allocator.state);
           ret = RCUTILS_RET_INVALID_ARGUMENT;
           goto clean;
         }
-        if (0 != strcmp(namespace, "/**") && 0 != strcmp(namespace, "/*")) {
-          ret = __validate_namespace(namespace);
+        if (0 != strcmp(namespace_, "/**") && 0 != strcmp(namespace_, "/*")) {
+          ret = _validate_namespace(namespace_);
           if (RCUTILS_RET_OK != ret) {
-            allocator.deallocate(namespace, allocator.state);
+            allocator.deallocate(namespace_, allocator.state);
             goto clean;
           }
         }
-        allocator.deallocate(namespace, allocator.state);
+        allocator.deallocate(namespace_, allocator.state);
         i += len;
-      } while (NULL != (separator_pos = index(absolute_namespace + i + 1, '/')));
+      } while (NULL != (separator_pos = strchr(absolute_namespace + i + 1, '/')));
     }
   }
 
   if (0 != strcmp(node_name, "*") && 0 != strcmp(node_name, "**")) {
-    ret = __validate_nodename(node_name);
+    ret = _validate_nodename(node_name);
     if (RCUTILS_RET_OK != ret) {
       goto clean;
     }
@@ -638,7 +639,7 @@ rcutils_ret_t parse_key(
             break;
           }
 
-          ret = __validate_name(node_name_ns, allocator);
+          ret = _validate_name(node_name_ns, allocator);
           if (RCUTILS_RET_OK != ret) {
             allocator.deallocate(node_name_ns, allocator.state);
             break;