Improve the compatibility of processing YAML parameter files by Barry-Xu-2018 · Pull Request #1548 · ros2/rclpy

Barry-Xu-2018 · 2025-11-27T09:30:58Z

Description

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

Signed-off-by: Barry Xu <barry.xu@sony.com>

rclpy/rclpy/parameter.py

Copilot

Pull request overview

This PR improves the compatibility of YAML parameter file processing by extending support for additional parameter file formats that are consistent with rcl_yaml_param_parser. The implementation adds handling for namespace wildcard patterns (/* and /**/node_name:) in parameter files, allowing more flexible parameter configuration.

Key Changes:

Added support for /*: namespace wildcard pattern matching single-level namespaces
Added support for /**/node_name: format for parameters that apply to any namespace
Updated documentation to clarify behavior when target_nodes is empty
Added comprehensive test coverage for new namespace patterns

Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 9 comments.

File	Description
rclpy/rclpy/parameter.py	Implements new logic for handling `/` single-level namespace wildcard, `/` any-namespace matching, and `/*/node_name:` format patterns; updates docstring to clarify empty target_nodes behavior
rclpy/test/test_parameter.py	Adds test YAML structure with new namespace patterns and comprehensive test cases validating the new wildcard matching behavior

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rclpy/rclpy/parameter.py

rclpy/test/test_parameter.py

rclpy/rclpy/parameter.py

rclpy/test/test_parameter.py

Signed-off-by: Barry Xu <barry.xu@sony.com>

Barry-Xu-2018 · 2025-11-28T06:26:36Z

At present, PR considers that the input target_nodes supports the format “/**/node_name”. But, according to the description of use_wildcard—"Use wildcard matching for the target nodes."—the wildcard refers to the contents only in the parameter file. Originally, the function was not designed to allow 'wildcard' to exist in target_nodes. So I will remove this support.

Signed-off-by: Barry Xu <barry.xu@sony.com>

Barry-Xu-2018 · 2025-12-04T07:34:35Z

I will update this PR after #1552 is merged.

fujitatomoya

@Barry-Xu-2018 lgtm with green CI.

fujitatomoya · 2025-12-15T02:37:16Z

Pulls: #1548
Gist: https://gist.githubusercontent.com/fujitatomoya/05d20856aff9bef8221247f1a6184a35/raw/fc0e72e40575f86a22c295c91628b9edc0e4abc4/ros2.repos
BUILD args: --packages-above-and-dependencies rclpy
TEST args: --packages-above rclpy
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17781

Linux
Linux-aarch64
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Windows

fujitatomoya · 2025-12-23T23:23:19Z

I will update this PR after #1552 is merged.

@Barry-Xu-2018 so #1552 has been merged, and this is also merged without rebasing. is this okay? just checking if this is not something you are expecting?

Barry-Xu-2018 · 2025-12-24T05:02:09Z

@fujitatomoya

#1552 has been merged, and this is also merged without rebasing. is this okay? just checking if this is not something you are expecting?

The "rebase" I mentioned above isn't git rebase. I need to readjust the code logic.
I will submit a new PR.

Barry-Xu-2018 · 2025-12-24T05:35:10Z

@fujitatomoya

#1571 has been submitted. Please review it.

fujitatomoya · 2025-12-25T00:13:40Z

@Mergifyio backport kilted

mergify · 2025-12-25T00:13:45Z

backport kilted

✅ Backports have been created

Details

#1572 Improve the compatibility of processing YAML parameter files (backport #1548) has been created for branch kilted

Signed-off-by: Barry Xu <barry.xu@sony.com> (cherry picked from commit 8730916)

fujitatomoya · 2025-12-25T00:15:06Z

@Barry-Xu-2018

just checking here are what we are gonna do,

backport Improve the compatibility of processing YAML parameter files #1548 to kilted, means Improve the compatibility of processing YAML parameter files (backport #1548) #1572 needs to be merged.
review and merge Improve wildcard parsing and optimize the logic for parsing YAML para… #1571 to rolling
backport Improve wildcard parsing and optimize the logic for parsing YAML para… #1571 to kilted

let me know if i got anything wrong,

Barry-Xu-2018 · 2025-12-25T05:39:53Z

@fujitatomoya

backport #1548 to kilted, means #1572 needs to be merged.
review and merge #1571 to rolling
backport #1571 to kilted

Yes. You are right.

…1572) (cherry picked from commit 8730916) Signed-off-by: Barry Xu <barry.xu@sony.com> Co-authored-by: Barry Xu <barry.xu@sony.com>

Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

) * Fix warnings from gcc. (#1501) Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Update type_support to use new abcs Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Cleanup old test cases to use new automatic inference Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add content-filtered-topic interfaces (#1506) Signed-off-by: Barry Xu <Barry.Xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Added lock to protect futures for multithreaded executor (#1477) Signed-off-by: brennanmk <brennanmk2200@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * EventsExecutor: Handle async callbacks for services and subscriptions (#1478) Closes #1473 Signed-off-by: Brad Martin <bmartin@fatlxception.org> Co-authored-by: Brad Martin <bmartin@fatlxception.org> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * add spinning state for the Executor classes. (#1510) Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fixes Action.*_async futures never complete (#1308) Per rclpy:1123 If two seperate client server actions are running in seperate executors the future given to the ActionClient will never complete due to a race condition This fixes the calls to rcl handles potentially leading to deadlock scenarios by adding locks to there references Co-authored-by: Aditya Agarwal <aditya.kgp25@gmail.com> Co-authored-by: Jonathan Blixt <jmblixt3@gmail.com> Signed-off-by: Jonathan Blixt <jmblixt3@gmail.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * remove unused 'param_type' (#1524) 'param_type' is set but never used Signed-off-by: Christian Rauch <Christian.Rauch@unileoben.ac.at> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Changelog Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * 10.0.1 Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Remove duplicate future handling from send_goal_async (#1532) A recent change intended to move this logic into a lock context, but actually ended up duplicating it instead. This fixes that by removing the duplicated logic outside of the lock. It also preserves the explicit typing annotation on the future. Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * fix(test_events_executor): destroy all nodes before shutdown (#1538) Signed-off-by: yuanyuyuan <az6980522@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * add BaseImpl Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Add ImplT Support Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * fix changelong Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Remove accidental tuple (#1542) Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Allow action servers without execute callback (#1219) Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> * add : get clients, servers info (#1307) Signed-off-by: Minju, Lee <dlalswn531@naver.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * 10.0.2 Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * update tests Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * ParameterEventHandler support ContentFiltering (#1531) * ParameterEventHandler support ContentFiltering Signed-off-by: Barry Xu <barry.xu@sony.com> * Address review comments Signed-off-by: Barry Xu <barry.xu@sony.com> --------- Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fix issues with resuming async tasks awaiting a future (#1469) Signed-off-by: Błażej Sowa <bsowa123@gmail.com> Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> Co-authored-by: Nadav Elkabets <32939935+nadavelkabets@users.noreply.github.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * 10.0.3 Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Increase clock accuracy (#1564) Signed-off-by: Florian Vahl <git@flova.de> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Use unconditional wait when possible. (#1563) Previously the max() value of the steady time was used as the default deadline. In some environments this results in overflows in the underlying pthread_cond_timedwait call, which waits for the conditional variable in the events queue implementation. Consequently, this lead to freezes in the executor. Reducing the deadline significantly helped, but using `cv.wait` instead of `cv_.wait_until` seems to be the cleaner solution. Signed-off-by: Florian Vahl <florian.vahl@dlr.de> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Remove default from switch with enum, so that compiler warns. (#1566) Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Fix parameter parsing for unspecified target nodes (#1552) Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Improve the compatibility of processing YAML parameter files (#1548) Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Improve wildcard parsing and optimize the logic for parsing YAML para… (#1571) Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Expose action graph functions as Node class methods. (#1574) * Expose action graph functions as Node class methods. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * address review comments to keep the warning consistent. Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> --------- Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> * Fix performance bug in MultiThreadedExecutor (hopefully) (#1547) Signed-off-by: Michael Tandy <git@mjt.me.uk> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Changelog Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * 10.0.4 Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * use Msg over BaseMessage Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Use Srv over BaseService Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Use Action over BaseAction Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * lint Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> * Update rclpy/rclpy/type_support.py Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> --------- Signed-off-by: Michael Carlstrom <rmc@carlstrom.com> Signed-off-by: Barry Xu <Barry.Xu@sony.com> Signed-off-by: brennanmk <brennanmk2200@gmail.com> Signed-off-by: Brad Martin <bmartin@fatlxception.org> Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com> Signed-off-by: Christian Rauch <Christian.Rauch@unileoben.ac.at> Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com> Signed-off-by: yuanyuyuan <az6980522@gmail.com> Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Signed-off-by: Minju, Lee <dlalswn531@naver.com> Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Błażej Sowa <bsowa123@gmail.com> Signed-off-by: Nadav Elkabets <elnadav12@gmail.com> Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> Signed-off-by: Florian Vahl <git@flova.de> Signed-off-by: Florian Vahl <florian.vahl@dlr.de> Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Michael Tandy <git@mjt.me.uk> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Barry Xu <barry.xu@sony.com> Co-authored-by: Brennan Miller-Klugman <55165406+brennanmk@users.noreply.github.com> Co-authored-by: Brad Martin <52003535+bmartin427@users.noreply.github.com> Co-authored-by: Brad Martin <bmartin@fatlxception.org> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Jonathan <jmblixt3@gmail.com> Co-authored-by: Christian Rauch <Christian.Rauch@unileoben.ac.at> Co-authored-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com> Co-authored-by: Yuyuan Yuan <az6980522@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Minju, Lee <70446214+leeminju531@users.noreply.github.com> Co-authored-by: Błażej Sowa <bsowa123@gmail.com> Co-authored-by: Nadav Elkabets <32939935+nadavelkabets@users.noreply.github.com> Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai> Co-authored-by: Florian Vahl <git@flova.de> Co-authored-by: Michael Tandy <git@mjt.me.uk> Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com>

Improve the compatibility of processing YAML parameter files

871a440

Signed-off-by: Barry Xu <barry.xu@sony.com>

fujitatomoya requested review from Copilot and fujitatomoya November 27, 2025 23:52

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Copilot started reviewing on behalf of fujitatomoya November 27, 2025 23:52 View session

fujitatomoya mentioned this pull request Nov 27, 2025

parameter_dict_from_yaml_file says YAML file is not a valid ROS parameter file but it is. #1546

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Address the comments from Copilot

c964a78

Signed-off-by: Barry Xu <barry.xu@sony.com>

Barry-Xu-2018 added 2 commits November 28, 2025 15:08

Remove target node supports wildcard

8334510

Signed-off-by: Barry Xu <barry.xu@sony.com>

Restore modifications to the function description

962ad1d

Signed-off-by: Barry Xu <barry.xu@sony.com>

fujitatomoya approved these changes Dec 15, 2025

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ahcorde approved these changes Dec 23, 2025

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ahcorde merged commit 8730916 into ros2:rolling Dec 23, 2025
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Barry-Xu-2018 mentioned this pull request Dec 24, 2025

Improve wildcard parsing and optimize the logic for parsing YAML para… #1571

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mergify bot pushed a commit that referenced this pull request Dec 25, 2025

Improve the compatibility of processing YAML parameter files (#1548)

5f49f6e

Signed-off-by: Barry Xu <barry.xu@sony.com> (cherry picked from commit 8730916)

mergify bot mentioned this pull request Dec 25, 2025

Improve the compatibility of processing YAML parameter files (backport #1548) #1572

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ahcorde pushed a commit that referenced this pull request Dec 26, 2025

Improve the compatibility of processing YAML parameter files (#1548) (#…

3119bd5

…1572) (cherry picked from commit 8730916) Signed-off-by: Barry Xu <barry.xu@sony.com> Co-authored-by: Barry Xu <barry.xu@sony.com>

mergify bot mentioned this pull request Dec 26, 2025

Improve wildcard parsing and optimize the logic for parsing YAML para… (backport #1571) #1573

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InvincibleRMC pushed a commit to InvincibleRMC/rclpy that referenced this pull request Jan 12, 2026

Improve the compatibility of processing YAML parameter files (ros2#1548)

7507dac

Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

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Barry-Xu-2018 commented Nov 27, 2025

Description

Is this user-facing behavior change?

Did you use Generative AI?

Additional Information

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✅ Backports have been created

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