The description and implementation of the function parameter_dict_from_yaml_file() are inconsistent.

### Generated by Generative AI

_No response_

### Operating System:

Linux cscsh-dev2 6.14.0-36-generic #36~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Wed Oct 15 15:45:17 UTC 2 x86_64 x86_64 x86_64 GNU/Linux

### ROS version or commit hash:

rolling，Kilted

### RMW implementation (if applicable):

Unrelated to RMW

### RMW Configuration (if applicable):

_No response_

### Client library (if applicable):

rclpy

### 'ros2 doctor --report' output

<details><summary>ros2 doctor --report</summary>

```console

   ACTION LIST
action                 : none
action server count    : 0
action client count    : 0

   ROS ENVIRONMENT
ROS environment variables        : ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET, ROS_DISTRO=rolling
rcutils environment variables    : 
rmw environment variables        : 

   NETWORK CONFIGURATION
inet         : 127.0.0.1
inet4        : ['127.0.0.1']
inet6        : ['::1']
netmask      : 255.0.0.0
device       : lo
flags        : UP,LOOPBACK,RUNNING
mtu          : 65536
inet         : 192.168.0.111
inet4        : ['192.168.0.111']
ether        : cc:96:e5:49:d0:a2
inet6        : ['2403:700:0:20b2:8b5:bce6:772:5c73', '2403:700:0:20b2:b498:9454:bf1e:5ff2', 'fe80::4eb0:1ab3:67e8:a64a%enp3s0']
netmask      : 255.255.255.0
device       : enp3s0
flags        : UP,BROADCAST,RUNNING,MULTICAST
mtu          : 1500
broadcast    : 192.168.0.255
inet         : 172.17.0.1
inet4        : ['172.17.0.1']
ether        : 56:d2:bf:5a:68:a1
netmask      : 255.255.0.0
device       : docker0
flags        : UP,BROADCAST,MULTICAST
mtu          : 1500
broadcast    : 172.17.255.255
ether        : 4c:d7:17:7d:c2:58
device       : enp0s31f6
flags        : UP,BROADCAST,MULTICAST
mtu          : 1500

   PACKAGE VERSIONS
ros2cli_common_extensions                 : latest=0.5.1, local=0.5.1
sros2                                     : latest=0.16.2, local=0.16.2
service_load_balancing                    : latest=0.1.3, local=0.1.3
ros_testing                               : latest=0.9.1, local=0.9.1
ros2topic                                 : latest=0.40.2, local=0.40.2
ros2test                                  : latest=0.9.1, local=0.9.1
ros2component                             : latest=0.40.2, local=0.40.2
ros2param                                 : latest=0.40.2, local=0.40.2
ros2lifecycle                             : latest=0.40.2, local=0.40.2
ros2service                               : latest=0.40.2, local=0.40.2
ros2run                                   : latest=0.40.2, local=0.40.2
ros2launch                                : latest=0.29.4, local=0.29.4
ros2pkg                                   : latest=0.40.2, local=0.40.2
ros2node                                  : latest=0.40.2, local=0.40.2
ros2multicast                             : latest=0.40.2, local=0.40.2
ros2lifecycle_test_fixtures               : latest=0.40.2, local=0.40.2
ros2interface                             : latest=0.40.2, local=0.40.2
ros2doctor                                : latest=0.40.2, local=0.40.2
ros2action                                : latest=0.40.2, local=0.40.2
ros2cli                                   : latest=0.40.2, local=0.40.2
launch_testing_ros                        : latest=0.29.4, local=0.29.4
ament_cmake_ros                           : latest=0.15.4, local=0.15.4
rmw_test_fixture_implementation           : latest=0.15.4, local=0.15.4
demo_nodes_cpp                            : latest=0.37.4, local=0.37.3
launch_ros                                : latest=0.29.4, local=0.29.4
demo_nodes_py                             : latest=0.37.4, local=0.37.3
bug_reproduce_py                          : latest=N/A, local=0.1.0
rclpy                                     : latest=10.0.2, local=10.0.2
rclcpp_lifecycle                          : latest=30.1.3, local=30.1.3
action_tutorials_cpp                      : latest=0.37.4, local=0.37.3
rclcpp_components                         : latest=30.1.3, local=30.1.3
rclcpp_action                             : latest=30.1.3, local=30.1.3
rclcpp                                    : latest=30.1.3, local=30.1.3
rcl_lifecycle                             : latest=10.2.6, local=10.2.6
rcl_action                                : latest=10.2.6, local=10.2.6
libstatistics_collector                   : latest=2.1.1, local=2.1.1
rcl                                       : latest=10.2.6, local=10.2.6
rmw_implementation                        : latest=3.1.3, local=3.1.3
rmw_zenoh_cpp                             : latest=0.10.2, local=0.10.2
zenoh_cpp_vendor                          : latest=0.10.2, local=0.10.2
test_msgs                                 : latest=2.4.2, local=2.4.2
std_srvs                                  : latest=5.9.1, local=5.9.1
geometry_msgs                             : latest=5.9.1, local=5.9.1
std_msgs                                  : latest=5.9.1, local=5.9.1
statistics_msgs                           : latest=2.4.2, local=2.4.2
rosgraph_msgs                             : latest=2.4.2, local=2.4.2
ros2cli_test_interfaces                   : latest=0.40.2, local=0.40.2
rmw_fastrtps_dynamic_cpp                  : latest=9.4.4, local=9.4.4
rmw_fastrtps_cpp                          : latest=9.4.4, local=9.4.4
rmw_fastrtps_shared_cpp                   : latest=9.4.4, local=9.4.4
rmw_cyclonedds_cpp                        : latest=4.1.3, local=4.1.3
rmw_connextddsmicro                       : latest=N/A, local=1.2.4
rmw_connextdds                            : latest=1.2.4, local=1.2.4
rmw_connextdds_common                     : latest=1.2.4, local=1.2.4
rmw_dds_common                            : latest=4.0.2, local=4.0.2
composition_interfaces                    : latest=2.4.2, local=2.4.2
rcl_interfaces                            : latest=2.4.2, local=2.4.2
lifecycle_msgs                            : latest=2.4.2, local=2.4.2
example_interfaces                        : latest=0.14.1, local=0.14.1
rosidl_default_runtime                    : latest=1.8.1, local=1.8.1
rosidl_default_generators                 : latest=1.8.1, local=1.8.1
action_msgs                               : latest=2.4.2, local=2.4.2
unique_identifier_msgs                    : latest=2.8.1, local=2.8.1
type_description_interfaces               : latest=2.4.2, local=2.4.2
service_msgs                              : latest=2.4.2, local=2.4.2
builtin_interfaces                        : latest=2.4.2, local=2.4.2
rosidl_core_runtime                       : latest=0.4.1, local=0.4.1
rosidl_core_generators                    : latest=0.4.1, local=0.4.1
rosidl_generator_py                       : latest=0.26.2, local=0.26.2
ament_lint_common                         : latest=0.20.3, local=0.20.2
ament_cmake_uncrustify                    : latest=0.20.3, local=0.20.2
ament_uncrustify                          : latest=0.20.3, local=0.20.2
uncrustify_vendor                         : latest=3.2.0, local=3.2.0
tracetools                                : latest=8.9.0, local=8.9.0
test_interface_files                      : latest=0.14.1, local=0.14.1
rcl_logging_spdlog                        : latest=3.3.2, local=3.3.2
spdlog_vendor                             : latest=1.8.0, local=1.8.0
rti_connext_dds_cmake_module              : latest=1.2.4, local=1.2.4
rpyutils                                  : latest=0.7.1, local=0.7.1
rosidl_typesupport_cpp                    : latest=3.4.1, local=3.4.1
rosidl_typesupport_introspection_cpp      : latest=5.1.1, local=5.1.1
rosidl_generator_rs                       : latest=0.4.9, local=0.4.9
rosidl_typesupport_c                      : latest=3.4.1, local=3.4.1
rosidl_typesupport_introspection_c        : latest=5.1.1, local=5.1.1
rosidl_typesupport_fastrtps_c             : latest=3.9.3, local=3.9.3
rosidl_typesupport_fastrtps_cpp           : latest=3.9.3, local=3.9.3
rosidl_generator_cpp                      : latest=5.1.1, local=5.1.1
rosidl_runtime_cpp                        : latest=5.1.1, local=5.1.1
rosidl_dynamic_typesupport_fastrtps       : latest=0.5.1, local=0.5.1
rmw_test_fixture                          : latest=0.15.4, local=0.15.4
rmw_security_common                       : latest=7.9.1, local=7.9.1
rcl_yaml_param_parser                     : latest=10.2.6, local=10.2.6
rmw                                       : latest=7.9.1, local=7.9.1
rosidl_dynamic_typesupport                : latest=0.4.0, local=0.4.0
rosidl_runtime_c                          : latest=5.1.1, local=5.1.1
rosidl_generator_c                        : latest=5.1.1, local=5.1.1
rosidl_typesupport_interface              : latest=5.1.1, local=5.1.1
rosidl_runtime_py                         : latest=0.15.1, local=0.15.1
rosidl_cmake                              : latest=5.1.1, local=5.1.1
rosidl_pycommon                           : latest=5.1.1, local=5.1.1
rosidl_generator_type_description         : latest=5.1.1, local=5.1.1
rosidl_parser                             : latest=5.1.1, local=5.1.1
rosidl_adapter                            : latest=5.1.1, local=5.1.1
rosidl_cli                                : latest=5.1.1, local=5.1.1
ros_environment                           : latest=4.4.1, local=4.4.1
rmw_implementation_cmake                  : latest=7.9.1, local=7.9.1
class_loader                              : latest=2.9.1, local=2.9.1
rcpputils                                 : latest=2.14.3, local=2.14.3
rcl_logging_noop                          : latest=3.3.2, local=3.3.2
rcl_logging_interface                     : latest=3.3.2, local=3.3.2
rcutils                                   : latest=7.0.4, local=7.0.4
performance_test_fixture                  : latest=0.4.1, local=0.4.1
mimick_vendor                             : latest=0.9.0, local=0.9.0
libyaml_vendor                            : latest=1.8.0, local=1.8.0
launch_testing_ament_cmake                : latest=3.9.5, local=3.9.5
launch_testing                            : latest=3.9.5, local=3.9.5
launch_yaml                               : latest=3.9.5, local=3.9.5
launch_xml                                : latest=3.9.5, local=3.9.5
launch                                    : latest=3.9.5, local=3.9.5
ament_cmake_gmock                         : latest=2.8.4, local=2.8.4
ament_cmake_gtest                         : latest=2.8.4, local=2.8.4
ament_cmake_google_benchmark              : latest=2.8.4, local=2.8.4
domain_coordinator                        : latest=0.15.4, local=0.15.4
console_bridge_vendor                     : latest=1.9.1, local=1.9.1
ament_cmake_xmllint                       : latest=0.20.3, local=0.20.2
ament_xmllint                             : latest=0.20.3, local=0.20.2
ament_pycodestyle                         : latest=0.20.3, local=0.20.2
ament_cmake_pep257                        : latest=0.20.3, local=0.20.2
ament_pep257                              : latest=0.20.3, local=0.20.2
ament_lint_auto                           : latest=0.20.3, local=0.20.2
ament_cmake                               : latest=2.8.4, local=2.8.4
ament_cmake_version                       : latest=2.8.4, local=2.8.4
ament_cmake_vendor_package                : latest=2.8.4, local=2.8.4
ament_cmake_pytest                        : latest=2.8.4, local=2.8.4
ament_cmake_mypy                          : latest=0.20.3, local=0.20.2
ament_cmake_lint_cmake                    : latest=0.20.3, local=0.20.2
ament_cmake_flake8                        : latest=0.20.3, local=0.20.2
ament_cmake_cpplint                       : latest=0.20.3, local=0.20.2
ament_cmake_cppcheck                      : latest=0.20.3, local=0.20.2
ament_cmake_copyright                     : latest=0.20.3, local=0.20.2
ament_cmake_test                          : latest=2.8.4, local=2.8.4
ament_cmake_target_dependencies           : latest=2.8.4, local=2.8.4
ament_cmake_ros_core                      : latest=0.15.4, local=0.15.4
ament_cmake_python                        : latest=2.8.4, local=2.8.4
ament_cmake_export_dependencies           : latest=2.8.4, local=2.8.4
ament_cmake_libraries                     : latest=2.8.4, local=2.8.4
ament_cmake_include_directories           : latest=2.8.4, local=2.8.4
ament_cmake_gen_version_h                 : latest=2.8.4, local=2.8.4
ament_cmake_export_targets                : latest=2.8.4, local=2.8.4
ament_cmake_export_link_flags             : latest=2.8.4, local=2.8.4
ament_cmake_export_libraries              : latest=2.8.4, local=2.8.4
ament_cmake_export_include_directories    : latest=2.8.4, local=2.8.4
ament_cmake_export_definitions            : latest=2.8.4, local=2.8.4
ament_cmake_core                          : latest=2.8.4, local=2.8.4
ament_package                             : latest=0.18.1, local=0.18.1
ament_mypy                                : latest=0.20.3, local=0.20.2
ament_lint_cmake                          : latest=0.20.3, local=0.20.2
ament_flake8                              : latest=0.20.3, local=0.20.2
ament_copyright                           : latest=0.20.3, local=0.20.2
ament_lint                                : latest=0.20.3, local=0.20.2
ament_index_python                        : latest=1.12.1, local=1.12.1
ament_index_cpp                           : latest=1.12.1, local=1.12.1
ament_cpplint                             : latest=0.20.3, local=0.20.2
ament_cppcheck                            : latest=0.20.3, local=0.20.2

   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-6.14.0-36-generic-x86_64-with-glibc2.39
release          : 6.14.0-36-generic
processor        : x86_64

   QOS COMPATIBILITY LIST
compatibility status    : No publisher/subscriber pairs found

   RMW MIDDLEWARE
middleware name    : rmw_fastrtps_cpp

   ROS 2 INFORMATION
distribution name      : rolling
distribution type      : ros2
distribution status    : rolling
release platforms      : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}

   SERVICE LIST
service          : none
service count    : 0
client count     : 0

   TOPIC LIST
topic               : none
publisher count     : 0
subscriber count    : 0

================================================================================
                                !!! WARNING !!!                                 
================================================================================
The report includes all ROS 2 endpoint information and system platform information.
Please review the report before sharing, as it may contain sensitive or private data.
================================================================================
```
</details>


### Steps to reproduce issue

 /tmp/test.yaml
```yaml
gps_node:
  ros__parameters:
    port: "/dev/ttyACM0"
    baud: 9600
    frame_id: "gps"
    time_ref_source: "gps"
    useRMC: False
```
 
1. Call `rclpy.parameter.parameter_dict_from_yaml_file('parameter_file='/tmp/test.yaml', use_wildcard=False)`
2. Check output

### Expected behavior

According to the function description as the below, there should be a return value.

https://github.com/ros2/rclpy/blob/e065b1a9d89ee23c913d93be9c3f5480148f705d/rclpy/rclpy/parameter.py#L363-L382

```output
{ 'baud': rcl_interfaces.msg.Parameter(name='baud', value=rcl_interfaces.msg.ParameterValue(type=2, bool_value=False, integer_value=9600, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])),
  'frame_id': rcl_interfaces.msg.Parameter(name='frame_id', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='gps', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])),
  'port': rcl_interfaces.msg.Parameter(name='port', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='/dev/ttyACM0', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])),
  'time_ref_source': rcl_interfaces.msg.Parameter(name='time_ref_source', value=rcl_interfaces.msg.ParameterValue(type=4, bool_value=False, integer_value=0, double_value=0.0, string_value='gps', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[])),
  'useRMC': rcl_interfaces.msg.Parameter(name='useRMC', value=rcl_interfaces.msg.ParameterValue(type=1, bool_value=False, integer_value=0, double_value=0.0, string_value='', byte_array_value=[], bool_array_value=[], integer_array_value=[], double_array_value=[], string_array_value=[]))}
```

### Actual behavior

An exception received.
RuntimeError: Param file does not contain any valid parameters

### Additional information

It worked normally in the Jazzy version, where there was additional handling when `target_nodes` was None or empty. However, in the rolling/kilted version, the original code has been completely changed, and there is no such handling in the new code.

	def parameter_dict_from_yaml_file(
	parameter_file: str,
	use_wildcard: bool = False,
	target_nodes: Optional[List[str]] = None,
	namespace: str = ''
	) -> Dict[str, ParameterMsg]:
	"""
	Build a dict of parameters from a YAML file.

	Will load all parameters if ``target_nodes`` is None or empty.

	:raises RuntimeError: if a target node is not in the file
	:raises RuntimeError: if the is not a valid ROS parameter file

	:param parameter_file: Path to the YAML file to load parameters from.
	:param use_wildcard: Use wildcard matching for the target nodes.
	:param target_nodes: List of nodes in the YAML file to load parameters from.
	:param namespace: Namespace to prepend to all parameters.
	:return: A dict of Parameter messages keyed by the parameter names
	"""

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Uh oh!

The description and implementation of the function parameter_dict_from_yaml_file() are inconsistent. #1550

Generated by Generative AI

Operating System:

ROS version or commit hash:

RMW implementation (if applicable):

RMW Configuration (if applicable):

Client library (if applicable):

'ros2 doctor --report' output

Steps to reproduce issue

Expected behavior

Actual behavior

Additional information

Metadata

Assignees

Labels

Type

Projects

Milestone

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Development

The description and implementation of the function parameter_dict_from_yaml_file() are inconsistent. #1550

Description

Generated by Generative AI

Operating System:

ROS version or commit hash:

RMW implementation (if applicable):

RMW Configuration (if applicable):

Client library (if applicable):

'ros2 doctor --report' output

Steps to reproduce issue

Expected behavior

Actual behavior

Additional information

Metadata

Metadata

Assignees

Labels

Type

Projects

Milestone

Relationships

Development

Issue actions