Improve wildcard parsing and optimize the logic for parsing YAML para…#1571
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ahcorde merged 2 commits intoros2:rollingfrom Dec 26, 2025
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…meter files Signed-off-by: Barry Xu <barry.xu@sony.com>
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Pull request overview
This pull request refactors the YAML parameter file parsing logic to improve wildcard handling and optimize the parsing flow. It addresses shortcomings from modification #1548 by reorganizing how wildcard patterns (/**, /*, /**/node_name) are matched and making the code more maintainable.
Key changes:
- Restructured wildcard parsing to separate behavior based on whether target nodes are specified
- Reorganized target node matching logic into more explicit, sequential checks for different patterns
- Updated test parameter names to be more descriptive and better reflect the test scenarios
Reviewed changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
| rclpy/rclpy/parameter.py | Refactored wildcard parsing logic to handle /* and /**/node_name patterns more explicitly; reorganized target node matching into clearer sequential checks; updated else branch to skip /**/ prefixed keys |
| rclpy/test/test_parameter.py | Updated test YAML parameter names to be more descriptive (e.g., single-level-namespace1 → abs-wildcard-ns-base-nodename); added new expected parameters to validate wildcard matching scenarios |
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Signed-off-by: Barry Xu <barry.xu@sony.com>
fujitatomoya
approved these changes
Dec 26, 2025
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fujitatomoya
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lgtm with green CI.
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Pulls: #1571
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Contributor
Author
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The CI failed on the Windows platform due to issues with the CI system itself, so I reran it.
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ahcorde
approved these changes
Dec 26, 2025
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@ahcorde @fujitatomoya Please backport this PR to kilted. |
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https://github.com/Mergifyio backport kilted |
Contributor
✅ Backports have been createdDetails
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ros2#1571) Signed-off-by: Barry Xu <barry.xu@sony.com> Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
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) * 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>
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…meter files
Description
Improve the shortcomings in modification #1548.
Is this user-facing behavior change?
No
Did you use Generative AI?
No
Additional Information