support wildcards

launch_ros/launch_ros/utilities/to_parameters_list.py

@@ -15,6 +15,7 @@
 """Module with utility to transform evaluated parameters into parameter lists."""
 
 import pathlib
+import re
 from typing import List
 import warnings
 
@@ -74,10 +75,13 @@ def to_parameters_list(
     :returns: a list of parameters
     """
     parameters = []  # type: List[rclpy.parameter.Parameter]
-    node_name = node_name.lstrip('/')
+
+    if node_name[0] != '/':
+        node_name = '/' + node_name
+
     if namespace and namespace != '/':
         namespace = namespace.strip('/')
-        node_name = f'{namespace}/{node_name}'
+        node_name = f'/{namespace}{node_name}'
 
     params_set = {}
     warned_once = False
@@ -89,10 +93,18 @@ def to_parameters_list(
 
                 if normalized_param_dict:
                     param_dict.clear()
-                    if '**' in normalized_param_dict:
-                        param_dict = normalized_param_dict['**']
-                    if node_name in normalized_param_dict:
-                        param_dict.update(normalized_param_dict[node_name])
+
+                    for key, value in normalized_param_dict.items():
+                        pattern = key if key[0] == '/' else '/' + key
+                        pattern = pattern.replace('/*', '(/\\w+)')
+                        try:
+                            match = re.fullmatch(pattern, node_name)
+                            if match:
+                                param_dict.update(value)
+                        except re.error as e:
+                            raise RuntimeError(
+                              'invalid yaml file {}, error: {}'.format(str(params_set_or_path), e))
+
                     if not warned_once and not node_name:
                         warnings.warn(
                             'node name not provided to launch; parameter files will not apply',

test_launch_ros/test/test_launch_ros/actions/example_parameters_bad_wildcard.yaml

@@ -0,0 +1,3 @@
+/***:
+  ros__parameters:
+    param: "wildcard"

test_launch_ros/test/test_launch_ros/actions/example_parameters_wildcard_mixed.yaml

@@ -0,0 +1,3 @@
+/*/aa/**/my_node:
+  ros__parameters:
+    param: "wildcard"

test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py

@@ -396,12 +396,12 @@ def test_load_node_with_param_file(mock_component_container):
     assert request.node_name == 'node_1'
     assert request.node_namespace == '/ns_1'
     assert len(request.parameters) == 3
-    assert request.parameters[0].name == 'param_2'
-    assert request.parameters[0].value.integer_value == 2
-    assert request.parameters[1].name == 'param_3'
-    assert request.parameters[1].value.integer_value == 33
-    assert request.parameters[2].name == 'param_1'
-    assert request.parameters[2].value.integer_value == 1
+    assert request.parameters[0].name == 'param_1'
+    assert request.parameters[0].value.integer_value == 1
+    assert request.parameters[1].name == 'param_2'
+    assert request.parameters[1].value.integer_value == 22
+    assert request.parameters[2].name == 'param_3'
+    assert request.parameters[2].value.integer_value == 33
 
     request = mock_component_container.requests[-1]
     assert get_node_name_count(context, '/ns_2/node_2') == 1
@@ -477,6 +477,26 @@ def test_load_node_with_param_file(mock_component_container):
     assert request.node_namespace == '/ns'
     assert len(request.parameters) == 0
 
+    # Case 9: wildcard mixed
+    context = _assert_launch_no_errors([
+        _load_composable_node(
+            package='foo_package',
+            plugin='bar_plugin',
+            name='my_node',
+            namespace='/wildcard_ns/aa/extra1/extra2',
+            parameters=[
+                parameters_file_dir / 'example_parameters_wildcard_mixed.yaml'
+            ],
+        )
+    ])
+    request = mock_component_container.requests[-1]
+    assert get_node_name_count(context, '/wildcard_ns/aa/extra1/extra2/my_node') == 1
+    assert request.node_name == 'my_node'
+    assert request.node_namespace == '/wildcard_ns/aa/extra1/extra2'
+    assert len(request.parameters) == 1
+    assert request.parameters[0].name == 'param'
+    assert request.parameters[0].value.string_value == 'wildcard'
+
     # Namespace not found
     context = _assert_launch_no_errors([
         _load_composable_node(

test_launch_ros/test/test_launch_ros/actions/test_set_parameters_from_file.py

@@ -27,6 +27,7 @@
 from launch_ros.actions.load_composable_nodes import get_composable_node_load_request
 from launch_ros.descriptions import ComposableNode
 
+import pytest
 import yaml
 
 
@@ -176,3 +177,19 @@ def test_set_param_with_composable_node():
     assert parameters[0].value.integer_value == 10
     assert parameters[1].name == 'asd'
     assert parameters[1].value.string_value == 'bsd'
+
+
+def test_set_bad_wildcard_param_with_composable_node():
+    lc = MockContext()
+    node_description = ComposableNode(
+        package='asd',
+        plugin='my_plugin',
+        name='my_node',
+        namespace='my_ns'
+    )
+    param_file_path = \
+        os.path.dirname(os.path.abspath(__file__)) + '/example_parameters_bad_wildcard.yaml'
+    set_param_1 = SetParametersFromFile(param_file_path)
+    set_param_1.execute(lc)
+    with pytest.raises(RuntimeError):
+        get_composable_node_load_request(node_description, lc)