use regex for wildcard matching by iuhilnehc-ynos · Pull Request #1839 · ros2/rclcpp

iuhilnehc-ynos · 2021-12-08T08:59:42Z

My intent is to use regex for supporting some complicated wildcard, such as /**/a/b/*/c/d/*/node.

I think that the same param name in a node of param file parsed by order seems more reasonable than the order(/**, specific_node). Because if there are more wildcards items, such /**/node, /ns/**/node, etc, I don't think users would like to memory these special rules.

Note: I can also use a 'std::set<..,std::less>' to store the node keys(* < / < alpha/num), and then move all the relative items iterator into {specific_node, {}}

Signed-off-by: Chen Lihui lihui.chen@sony.com

iuhilnehc-ynos · 2021-12-09T07:42:32Z

I use your test cases from ~~https://github.com/ros2/rcl/pull/809/files~~#1280, could you help review this PR? @rpaaron

fujitatomoya · 2021-12-17T19:32:31Z

@iuhilnehc-ynos is this PR for #1265 and ros2/rcl#954? could you add a description about what we are trying fix and related issue?

fujitatomoya

@iuhilnehc-ynos so you kinda have done rebase for #1280 with some changes, right? (new code for support wildcards and borrowing test cases from #1280)

rclcpp/src/rclcpp/parameter_map.cpp

rpaaron · 2021-12-19T22:37:07Z

I use your test cases from ~https://github.com/ros2/rcl/pull/809/files~#1280, could you help review this PR? @rpaaron

Hi! Its been a little while for me, so need to re-familiarize myself with it..
Should we add a couple of basic tests for parameter_map_from(const rcl_params_t * const c_params, const char * node_fqn = nullptr); with a non null node_fqn ?

iuhilnehc-ynos · 2021-12-20T01:51:03Z

@rpaaron

Should we add a couple of basic tests for parameter_map_from(const rcl_params_t * const c_params, const char * node_fqn = nullptr); with a non null node_fqn ?

Thank you, I'll add some for it.

fujitatomoya · 2022-02-04T19:23:32Z

CI:

Linux
Linux-aarch64
Windows

fujitatomoya · 2022-02-04T19:24:45Z

@alsora @SteveMacenski could you help us review on this?

tonynajjar · 2022-06-22T16:25:09Z

This would be really nice to have, any reason it's blocked?

fujitatomoya · 2022-06-22T21:16:40Z

No, we are just waiting for another maintainer's review.

alsora · 2022-07-02T18:18:07Z

Hi, looks good to me.
Sorry for the long wait.
Can we run again CI before merging?

fujitatomoya · 2022-07-06T04:41:56Z

CI:

Linux
Linux-aarch64
Windows

Co-authored-by: Aaron Lipinski <aaron.lipinski@roboticsplus.co.nz> Signed-off-by: Chen Lihui <lihui.chen@sony.com>

Signed-off-by: Chen Lihui <lihui.chen@sony.com>

iuhilnehc-ynos · 2022-07-06T06:02:38Z

Rebased branch and re-run CI:

Linux
Linux-aarch64
Windows

fujitatomoya · 2022-07-06T16:41:02Z

@iuhilnehc-ynos thanks for checking on this! all green, i will go ahead to merge this.

eranroll · 2022-08-07T08:24:16Z

Hi,

Will this be pulled into Galactic or Humble?

ivanpauno · 2022-08-08T14:01:48Z

@iuhilnehc-ynos @fujitatomoya is there an equivalent PR for rclpy?

fujitatomoya · 2022-08-08T22:18:49Z

No i dont think so, I am not sure if the same problem (ros2/rcl#954) can be observed in rclpy.

I think this can be backported to Galactic and Humble since it extends the argument with default value.

CC: @iuhilnehc-ynos

iuhilnehc-ynos · 2022-08-09T01:44:01Z

@ivanpauno

is there an equivalent PR for rclpy?

Not yet. I will open a new PR for it.
Note for me. https://github.com/ros2/rclpy/blob/1d0cc63579cdcd4c923dd7e04c3c60372fb445f3/rclpy/src/rclpy/node.cpp#L348

@fujitatomoya

I think this can be backported to Galactic and Humble

I think so.

fujitatomoya · 2022-08-10T04:27:30Z

@Mergifyio backport humble galactic

* use regex for wildcard matching Co-authored-by: Aaron Lipinski <aaron.lipinski@roboticsplus.co.nz> Signed-off-by: Chen Lihui <lihui.chen@sony.com> * use map to process the content of parameter file by order Signed-off-by: Chen Lihui <lihui.chen@sony.com> * add more test cases Signed-off-by: Chen Lihui <lihui.chen@sony.com> * try to not decrease the performance and make the param win last Signed-off-by: Chen Lihui <lihui.chen@sony.com> * update node name Signed-off-by: Chen Lihui <lihui.chen@sony.com> * update document comment Signed-off-by: Chen Lihui <lihui.chen@sony.com> * add more test for parameter_map_from Signed-off-by: Chen Lihui <lihui.chen@sony.com> Co-authored-by: Aaron Lipinski <aaron.lipinski@roboticsplus.co.nz> (cherry picked from commit 6dd3a03)

mergify · 2022-08-10T04:28:13Z

backport humble galactic

✅ Backports have been created

Details

#1986 use regex for wildcard matching (backport #1839) has been created for branch humble
#1987 use regex for wildcard matching (backport #1839) has been created for branch galactic

ivanpauno · 2022-08-23T16:55:19Z

@fujitatomoya @iuhilnehc-ynos have the new wildcard rules been documented somewhere?

fujitatomoya · 2022-08-23T17:25:34Z

No i do not think so. can you tell us where it is supposed to be, if you have idea?

ivanpauno · 2022-08-23T17:33:26Z

Maybe here https://github.com/ros2/design/blob/e160af4bf8955b8cfd735fc65e3d97ff4c18abb2/articles/160_ros_command_line_arguments.md#multiple-parameter-assignments.

Here could be https://github.com/ros2/ros2_documentation/blob/73f10d917bb0a2bdda553970f9988e119ef5548a/source/How-To-Guides/Node-arguments.rst#setting-parameters-from-yaml-files as well.

* use regex for wildcard matching (#1839) * use regex for wildcard matching Co-authored-by: Aaron Lipinski <aaron.lipinski@roboticsplus.co.nz> Signed-off-by: Chen Lihui <lihui.chen@sony.com> * use map to process the content of parameter file by order Signed-off-by: Chen Lihui <lihui.chen@sony.com> * add more test cases Signed-off-by: Chen Lihui <lihui.chen@sony.com> * try to not decrease the performance and make the param win last Signed-off-by: Chen Lihui <lihui.chen@sony.com> * update node name Signed-off-by: Chen Lihui <lihui.chen@sony.com> * update document comment Signed-off-by: Chen Lihui <lihui.chen@sony.com> * add more test for parameter_map_from Signed-off-by: Chen Lihui <lihui.chen@sony.com> Co-authored-by: Aaron Lipinski <aaron.lipinski@roboticsplus.co.nz> (cherry picked from commit 6dd3a03) * not to break ABI Signed-off-by: Chen Lihui <lihui.chen@sony.com> Signed-off-by: Chen Lihui <lihui.chen@sony.com> Co-authored-by: Chen Lihui <lihui.chen@sony.com>

Barry-Xu-2018 mentioned this pull request Dec 8, 2021

Wildcard doesn't assign parameter if the node has namespace ros2/rcl#954

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iuhilnehc-ynos force-pushed the topic-wildcard-use-regex branch from b2a008a to 5ae8d59 Compare December 9, 2021 07:36

iuhilnehc-ynos marked this pull request as ready for review December 10, 2021 01:59

fujitatomoya reviewed Dec 17, 2021

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fujitatomoya mentioned this pull request Dec 17, 2021

Support namespace and node name wildcards #1280

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clalancette assigned fujitatomoya Feb 4, 2022

fujitatomoya approved these changes Feb 4, 2022

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fujitatomoya mentioned this pull request Feb 4, 2022

support wildcards for just namespaces, or just nodes #1265

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ivanpauno self-requested a review March 8, 2022 17:16

audrow changed the base branch from master to rolling June 28, 2022 14:21

alsora approved these changes Jul 2, 2022

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alsora mentioned this pull request Jul 2, 2022

Draft: adding namespaces to create3 iRobotEducation/create3_sim#176

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Chen Lihui and others added 7 commits July 6, 2022 13:50

use regex for wildcard matching

e302dfa

Co-authored-by: Aaron Lipinski <aaron.lipinski@roboticsplus.co.nz> Signed-off-by: Chen Lihui <lihui.chen@sony.com>

use map to process the content of parameter file by order

37c1baa

Signed-off-by: Chen Lihui <lihui.chen@sony.com>

add more test cases

757a904

Signed-off-by: Chen Lihui <lihui.chen@sony.com>

try to not decrease the performance and make the param win last

3dda089

Signed-off-by: Chen Lihui <lihui.chen@sony.com>

update node name

266a130

Signed-off-by: Chen Lihui <lihui.chen@sony.com>

update document comment

48d03fb

Signed-off-by: Chen Lihui <lihui.chen@sony.com>

add more test for parameter_map_from

922179b

Signed-off-by: Chen Lihui <lihui.chen@sony.com>

iuhilnehc-ynos force-pushed the topic-wildcard-use-regex branch from 64007f1 to 922179b Compare July 6, 2022 06:00

fujitatomoya merged commit 6dd3a03 into ros2:rolling Jul 6, 2022

iuhilnehc-ynos mentioned this pull request Aug 9, 2022

support wildcard matching for params file ros2/rclpy#987

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mergify bot mentioned this pull request Aug 10, 2022

use regex for wildcard matching (backport #1839) #1986

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mergify bot mentioned this pull request Aug 10, 2022

use regex for wildcard matching (backport #1839) #1987

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iuhilnehc-ynos mentioned this pull request Aug 18, 2022

support regex match for parameter client #1997

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tonynajjar mentioned this pull request Sep 6, 2022

Use SetParameter Launch API to set the yaml filename for map_server ros-navigation/navigation2#3174

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7 tasks

fujitatomoya mentioned this pull request Sep 8, 2022

add documentation about parameter wildcard matching ros2/ros2_documentation#3004

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marshallpt mentioned this pull request Nov 1, 2022

Re-added namespace to config file vcuopencity/piracer#43

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