[Jazzy] Improve the compatibility of processing YAML parameter files

[Barry-Xu-2018]

Description

The implementation of the parameter_dict_from_yaml_file() function differs significantly between the rolling version and the Jazzy version, so I made separate modifications for the Jazzy version.

Fixes #1546

And also supports the following YAML parameter format

/**/node_name:
   ros__parameters:
      ...
/*:
   node_name:
       ros__parameters:

Is this user-facing behavior change?

Yes. parameter_dict_from_yaml_file() supports a more complete parameter file format (consistent with rcl_yaml_param_parser).

Did you use Generative AI?

No

Additional Information

No

[Barry-Xu-2018]

I found that the handling of cases where /**/node_name is included in the parameter file is incomplete. The ** represents one or multiple levels of namespaces. Currently, the code only handles cases with a single-level namespace.
I will fix this and then reopen to review.

[Copilot]

Pull request overview

This PR enhances the parameter_dict_from_yaml_file() function in the Jazzy version to support additional YAML parameter file formats, aligning it with the functionality of rcl_yaml_param_parser. The changes enable processing of wildcard namespace patterns (/* and /**/node_name) and nested namespace/node definitions.

Key changes:

• Extended wildcard matching to support /* and /**/node_name patterns in addition to the existing /** pattern
• Added support for nested YAML structures where namespaces contain node definitions (e.g., /namespace: node_name: ros__parameters:)
• Implemented logic to handle both absolute and relative node name formats in parameter files

Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.

File	Description
rclpy/rclpy/parameter.py	Rewrote parameter file parsing logic to handle multiple YAML formats including wildcard patterns and nested namespace/node structures
rclpy/test/test_parameter.py	Added comprehensive test coverage for new YAML parameter formats including wildcard matching and various namespace/node combinations

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

[fujitatomoya]

lgtm with green CI.

[fujitatomoya]

@Barry-Xu-2018 if i understand correctly, we do not need #1552 to jazzy and humble right?

[fujitatomoya]

Pulls: #1549
Gist: https://gist.githubusercontent.com/fujitatomoya/e7fdcb83d91f87b05e336439e95d02f7/raw/068f73bc82ddf15afe433309a4d607ef3f69c5aa/ros2.repos
BUILD args: --packages-above-and-dependencies rclpy
TEST args: --packages-above rclpy
ROS Distro: jazzy
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17783

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[Barry-Xu-2018]

@fujitatomoya

@Barry-Xu-2018 if i understand correctly, we do not need #1552 to jazzy and humble right?

Yes. You are right.

[fujitatomoya]

@Mergifyio backport humble

[mergify]

backport humble

✅ Backports have been created

Details

• #1570 [Jazzy] Improve the compatibility of processing YAML parameter files (backport #1549) has been created for branch humble but encountered conflicts