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Fix parameter parsing for unspecified target nodes #1552

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12b81f2
Fix parameter parsing for unspecified target nodes
Barry-Xu-2018 Dec 3, 2025
419ee5e
Address review comments from Copilot
Barry-Xu-2018 Dec 3, 2025
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21 changes: 21 additions & 0 deletions rclpy/rclpy/parameter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -423,6 +423,27 @@ def parameter_dict_from_yaml_file(
raise RuntimeError('YAML file is not a valid ROS parameter '
f'file for namespace {ns} node {node_basename}')
param_dict.update(value['ros__parameters'])
else:
# Except the wildcard key, add all other keys
for k, v in param_file.items():
if k == '/**' or k == '/*':
continue
if isinstance(v, dict):
# k is node_name or /node_name or /namespace/node_name
if 'ros__parameters' in v:
param_dict.update(v['ros__parameters'])
continue
# k is namespace
for node_name, node_value in v.items():
if isinstance(node_value, dict) and 'ros__parameters' in node_value:
param_dict.update(node_value['ros__parameters'])
else:
raise RuntimeError(
f'YAML file is not a valid ROS parameter file for node'
f'{k}/{node_name}')
else:
raise RuntimeError(
f'YAML file is not a valid ROS parameter file for node {k}')

if not param_dict:
raise RuntimeError('Param file does not contain any valid parameters')
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55 changes: 42 additions & 13 deletions rclpy/test/test_parameter.py
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Expand Up @@ -268,25 +268,52 @@ def test_parameter_dict_from_yaml_file(self) -> None:
base-nodename: true
/foo/param_test_target:
ros__parameters:
abs-ns-nodename: true
abs-foo-ns-nodename: true
/foo:
param_test_target:
ros__parameters:
abs-ns-base-nodename: true
abs-foo-ns-base-nodename: true
/bar/param_test_target:
ros__parameters:
abs-ns-nodename: false
abs-bar-ns-nodename: false
/bar:
param_test_target:
ros__parameters:
abs-ns-base-nodename: false
abs-bar-ns-base-nodename: false
/**:
ros__parameters:
wildcard: true
"""
# target nodes arn't specified with wildcard disabled
expected_no_target_node_no_wildcard = {
'abs-bar-ns-base-nodename': Parameter(
'abs-bar-ns-base-nodename', Parameter.Type.BOOL, False).to_parameter_msg(),
'abs-bar-ns-nodename': Parameter(
'abs-bar-ns-nodename', Parameter.Type.BOOL, False).to_parameter_msg(),
'abs-foo-ns-base-nodename': Parameter(
'abs-foo-ns-base-nodename', Parameter.Type.BOOL, True).to_parameter_msg(),
'abs-foo-ns-nodename': Parameter(
'abs-foo-ns-nodename', Parameter.Type.BOOL, True).to_parameter_msg(),
'abs-nodename': Parameter(
'abs-nodename', Parameter.Type.BOOL, True).to_parameter_msg(),
'base-nodename': Parameter(
'base-nodename', Parameter.Type.BOOL, True).to_parameter_msg(),
}

# target nodes is specified, so it should only parse wildcard
expected_no_target_node = {
# target nodes aren't specified with wildcard enabled
expected_no_target_node_wildcard = {
'abs-bar-ns-base-nodename': Parameter(
'abs-bar-ns-base-nodename', Parameter.Type.BOOL, False).to_parameter_msg(),
'abs-bar-ns-nodename': Parameter(
'abs-bar-ns-nodename', Parameter.Type.BOOL, False).to_parameter_msg(),
'abs-foo-ns-base-nodename': Parameter(
'abs-foo-ns-base-nodename', Parameter.Type.BOOL, True).to_parameter_msg(),
'abs-foo-ns-nodename': Parameter(
'abs-foo-ns-nodename', Parameter.Type.BOOL, True).to_parameter_msg(),
'abs-nodename': Parameter(
'abs-nodename', Parameter.Type.BOOL, True).to_parameter_msg(),
'base-nodename': Parameter(
'base-nodename', Parameter.Type.BOOL, True).to_parameter_msg(),
'wildcard': Parameter('wildcard', Parameter.Type.BOOL, True).to_parameter_msg(),
}
# target nodes is specified with wildcard enabled
Expand All @@ -308,22 +335,24 @@ def test_parameter_dict_from_yaml_file(self) -> None:
# target nodes is specified with wildcard and namespace
expected_target_node_ns = {
'wildcard': Parameter('wildcard', Parameter.Type.BOOL, True).to_parameter_msg(),
'abs-ns-nodename': Parameter(
'abs-ns-nodename', Parameter.Type.BOOL, True).to_parameter_msg(),
'abs-ns-base-nodename': Parameter(
'abs-ns-base-nodename', Parameter.Type.BOOL, True).to_parameter_msg(),
'abs-foo-ns-nodename': Parameter(
'abs-foo-ns-nodename', Parameter.Type.BOOL, True).to_parameter_msg(),
'abs-foo-ns-base-nodename': Parameter(
'abs-foo-ns-base-nodename', Parameter.Type.BOOL, True).to_parameter_msg(),
}

try:
with NamedTemporaryFile(mode='w', delete=False) as f:
f.write(yaml_string)
f.flush()
f.close()
parameter_dict = parameter_dict_from_yaml_file(f.name, False)
assert parameter_dict == expected_no_target_node_no_wildcard
parameter_dict = parameter_dict_from_yaml_file(f.name, True)
assert parameter_dict == expected_no_target_node
assert parameter_dict == expected_no_target_node_wildcard
parameter_dict = parameter_dict_from_yaml_file(
f.name, True, target_nodes=[''])
assert parameter_dict == expected_no_target_node
f.name, True, target_nodes=[])
assert parameter_dict == expected_no_target_node_wildcard
parameter_dict = parameter_dict_from_yaml_file(
f.name, True, target_nodes=['param_test_target'])
assert parameter_dict == expected_target_node_wildcard
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