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

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Merged
cottsay merged 1 commit into from
Jun 24, 2019
Merged

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

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17 changes: 9 additions & 8 deletions rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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());
}
}
}
}

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