From 6c411aabe2dcd56a85085e27ef8a3950fb0f721b Mon Sep 17 00:00:00 2001
From: Rebecca Butler <rebecca@openrobotics.org>
Date: Fri, 13 Aug 2021 15:21:57 -0400
Subject: [PATCH 01/11] Support both param file configurations in
 to_parameters_list.py

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>
---
 .../launch_ros/actions/load_composable_nodes.py |  6 ++++--
 .../launch_ros/utilities/to_parameters_list.py  | 17 ++++++++++++++++-
 2 files changed, 20 insertions(+), 3 deletions(-)

diff --git a/launch_ros/launch_ros/actions/load_composable_nodes.py b/launch_ros/launch_ros/actions/load_composable_nodes.py
index fe6241e0..f13e0568 100644
--- a/launch_ros/launch_ros/actions/load_composable_nodes.py
+++ b/launch_ros/launch_ros/actions/load_composable_nodes.py
@@ -283,7 +283,8 @@ def get_composable_node_load_request(
     if parameters:
         request.parameters = [
             param.to_parameter_msg() for param in to_parameters_list(
-                context, evaluate_parameters(
+                context, request.node_name, expanded_ns,
+                evaluate_parameters(
                     context, parameters
                 )
             )
@@ -291,7 +292,8 @@ def get_composable_node_load_request(
     if composable_node_description.extra_arguments is not None:
         request.extra_arguments = [
             param.to_parameter_msg() for param in to_parameters_list(
-                context, evaluate_parameters(
+                context, request.node_name, expanded_ns,
+                evaluate_parameters(
                     context, composable_node_description.extra_arguments
                 )
             )
diff --git a/launch_ros/launch_ros/utilities/to_parameters_list.py b/launch_ros/launch_ros/utilities/to_parameters_list.py
index c7d13e27..9cfbd659 100644
--- a/launch_ros/launch_ros/utilities/to_parameters_list.py
+++ b/launch_ros/launch_ros/utilities/to_parameters_list.py
@@ -30,6 +30,8 @@
 
 def to_parameters_list(
     context: LaunchContext,
+    node_name: str,
+    namespace: str,
     evaluated_parameters: EvaluatedParameters
 ) -> List[rclpy.parameter.Parameter]:
     """
@@ -37,6 +39,8 @@ def to_parameters_list(
 
     :param context: to carry out substitutions during normalization of parameter files.
         See `normalize_parameters()` documentation for further reference.
+    :param node_name: node name
+    :param namespace: node namespace
     :param parameters: parameters as either paths to parameter files or name/value pairs.
         See `evaluate_parameters()` documentation for further reference.
     :returns: a list of parameters
@@ -45,8 +49,19 @@ def to_parameters_list(
     for params_set_or_path in evaluated_parameters:
         if isinstance(params_set_or_path, pathlib.Path):
             with open(str(params_set_or_path), 'r') as f:
+                if namespace is not None:
+                    node_name = f"{namespace}/{node_name}"
+                node_name_with_slash = f"/{node_name}"
+                param_dict = yaml.safe_load(f)
+                try:
+                    param_dict = param_dict[node_name]["ros__parameters"]
+                except KeyError:
+                    try:
+                        param_dict = param_dict[node_name_with_slash]["ros__parameters"]
+                    except KeyError:
+                        pass
                 params_set = evaluate_parameter_dict(
-                    context, normalize_parameter_dict(yaml.safe_load(f))
+                    context, normalize_parameter_dict(param_dict)
                 )
         else:
             params_set = params_set_or_path

From 97ede21d903a66ee7ebbe6acad988167a95a1bc5 Mon Sep 17 00:00:00 2001
From: Rebecca Butler <rebecca@openrobotics.org>
Date: Tue, 24 Aug 2021 13:59:22 -0400
Subject: [PATCH 02/11] Support another file config and add tests

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>
---
 .../actions/load_composable_nodes.py          |   2 +-
 .../utilities/to_parameters_list.py           |  37 ++++--
 .../actions/example_parameters_namespace.yaml |   3 +
 .../actions/example_parameters_no_name.yaml   |   2 +
 .../example_parameters_no_namespace.yaml      |   3 +
 .../actions/example_parameters_wildcard.yaml  |   3 +
 .../actions/test_load_composable_nodes.py     | 111 ++++++++++++++++++
 7 files changed, 151 insertions(+), 10 deletions(-)
 create mode 100644 test_launch_ros/test/test_launch_ros/actions/example_parameters_namespace.yaml
 create mode 100644 test_launch_ros/test/test_launch_ros/actions/example_parameters_no_name.yaml
 create mode 100644 test_launch_ros/test/test_launch_ros/actions/example_parameters_no_namespace.yaml
 create mode 100644 test_launch_ros/test/test_launch_ros/actions/example_parameters_wildcard.yaml

diff --git a/launch_ros/launch_ros/actions/load_composable_nodes.py b/launch_ros/launch_ros/actions/load_composable_nodes.py
index f13e0568..d16fed95 100644
--- a/launch_ros/launch_ros/actions/load_composable_nodes.py
+++ b/launch_ros/launch_ros/actions/load_composable_nodes.py
@@ -243,7 +243,7 @@ def get_composable_node_load_request(
     composable_node_description: ComposableNode,
     context: LaunchContext
 ):
-    """Get the request that will be send to the composable node container."""
+    """Get the request that will be sent to the composable node container."""
     request = composition_interfaces.srv.LoadNode.Request()
     request.package_name = perform_substitutions(
         context, composable_node_description.package
diff --git a/launch_ros/launch_ros/utilities/to_parameters_list.py b/launch_ros/launch_ros/utilities/to_parameters_list.py
index 9cfbd659..697c6ccf 100644
--- a/launch_ros/launch_ros/utilities/to_parameters_list.py
+++ b/launch_ros/launch_ros/utilities/to_parameters_list.py
@@ -28,6 +28,18 @@
 from ..parameters_type import EvaluatedParameters
 
 
+def search_for_key(keys, dictionary):
+    """Search for the nested "ros__parameters" key and return the keys above it."""
+    for key, value in dictionary.items():
+        if key == "ros__parameters":
+            return (keys, value)
+        elif type(value) is dict:
+            keys.append(key)
+            return search_for_key(keys, value)
+        else:
+            return (None, None)
+
+
 def to_parameters_list(
     context: LaunchContext,
     node_name: str,
@@ -49,17 +61,24 @@ def to_parameters_list(
     for params_set_or_path in evaluated_parameters:
         if isinstance(params_set_or_path, pathlib.Path):
             with open(str(params_set_or_path), 'r') as f:
-                if namespace is not None:
+                node_name.lstrip('/')
+                if namespace:
+                    namespace.lstrip('/')
                     node_name = f"{namespace}/{node_name}"
-                node_name_with_slash = f"/{node_name}"
                 param_dict = yaml.safe_load(f)
-                try:
-                    param_dict = param_dict[node_name]["ros__parameters"]
-                except KeyError:
-                    try:
-                        param_dict = param_dict[node_name_with_slash]["ros__parameters"]
-                    except KeyError:
-                        pass
+
+                # Get all keys that come before "ros__parameters"
+                keys = []
+                inner_dict = {}
+                (keys, inner_dict) = search_for_key(keys, param_dict)
+
+                # If we found any, combine them to form the full name
+                if keys:
+                    keys = [key.lstrip('/') for key in keys]
+                    yaml_name = '/'.join(keys)
+                    if (yaml_name == node_name or yaml_name == "**"):
+                        param_dict = inner_dict
+
                 params_set = evaluate_parameter_dict(
                     context, normalize_parameter_dict(param_dict)
                 )
diff --git a/test_launch_ros/test/test_launch_ros/actions/example_parameters_namespace.yaml b/test_launch_ros/test/test_launch_ros/actions/example_parameters_namespace.yaml
new file mode 100644
index 00000000..edad0e91
--- /dev/null
+++ b/test_launch_ros/test/test_launch_ros/actions/example_parameters_namespace.yaml
@@ -0,0 +1,3 @@
+ns/test_node_name:
+  ros__parameters:
+    param: 1
\ No newline at end of file
diff --git a/test_launch_ros/test/test_launch_ros/actions/example_parameters_no_name.yaml b/test_launch_ros/test/test_launch_ros/actions/example_parameters_no_name.yaml
new file mode 100644
index 00000000..91015e73
--- /dev/null
+++ b/test_launch_ros/test/test_launch_ros/actions/example_parameters_no_name.yaml
@@ -0,0 +1,2 @@
+some_int: 42
+a_string: "Hello world"
\ No newline at end of file
diff --git a/test_launch_ros/test/test_launch_ros/actions/example_parameters_no_namespace.yaml b/test_launch_ros/test/test_launch_ros/actions/example_parameters_no_namespace.yaml
new file mode 100644
index 00000000..8631b7b4
--- /dev/null
+++ b/test_launch_ros/test/test_launch_ros/actions/example_parameters_no_namespace.yaml
@@ -0,0 +1,3 @@
+/test_node_name:
+  ros__parameters:
+    param: 2
diff --git a/test_launch_ros/test/test_launch_ros/actions/example_parameters_wildcard.yaml b/test_launch_ros/test/test_launch_ros/actions/example_parameters_wildcard.yaml
new file mode 100644
index 00000000..85198d89
--- /dev/null
+++ b/test_launch_ros/test/test_launch_ros/actions/example_parameters_wildcard.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    param: "wildcard"
\ No newline at end of file
diff --git a/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py b/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
index efb1472e..55c593ba 100644
--- a/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
+++ b/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
@@ -14,6 +14,7 @@
 
 """Tests for the LoadComposableNodes Action."""
 
+import pathlib
 import threading
 
 from composition_interfaces.srv import LoadNode
@@ -214,6 +215,116 @@ def test_load_node_with_params(mock_component_container):
     assert len(request.extra_arguments) == 0
 
 
+def test_load_node_with_param_file(mock_component_container):
+    """Test loading a node with with parameters specified in yaml files."""
+    parameters_file_dir = pathlib.Path(__file__).resolve().parent
+
+    # Case 1: no node name in yaml file
+    context = _assert_launch_no_errors([
+        _load_composable_node(
+            package='foo_package',
+            plugin='bar_plugin',
+            name='test_node_name',
+            namespace='test_node_namespace',
+            parameters=[
+                parameters_file_dir / 'example_parameters_no_name.yaml'
+            ],
+        )
+    ])
+    request = mock_component_container.requests[0]
+    assert get_node_name_count(context, '/test_node_namespace/test_node_name') == 1
+    assert request.node_name == 'test_node_name'
+    assert request.node_namespace == '/test_node_namespace'
+    assert len(request.parameters) == 2
+    assert request.parameters[0].name == 'some_int'
+    assert request.parameters[0].value.integer_value == 42
+    assert request.parameters[1].name == 'a_string'
+    assert request.parameters[1].value.string_value == 'Hello world'
+
+    # Case 2: node name with namespace
+    context = _assert_launch_no_errors([
+        _load_composable_node(
+            package='foo_package',
+            plugin='bar_plugin',
+            name='test_node_name',
+            namespace='ns',
+            parameters=[
+                parameters_file_dir / 'example_parameters_namespace.yaml'
+            ],
+        )
+    ])
+    request = mock_component_container.requests[1]
+    assert get_node_name_count(context, '/ns/test_node_name') == 1
+    assert request.node_name == 'test_node_name'
+    assert request.node_namespace == '/ns'
+    assert len(request.parameters) == 1
+    assert request.parameters[0].name == 'param'
+    assert request.parameters[0].value.integer_value == 1
+
+    # Case 3: nested node name with namespace
+    context = _assert_launch_no_errors([
+        _load_composable_node(
+            package='foo_package',
+            plugin='bar_plugin',
+            name='my_node',
+            namespace='my_ns',
+            parameters=[
+                parameters_file_dir / 'example_parameters.yaml'
+            ],
+        )
+    ])
+    request = mock_component_container.requests[2]
+    assert get_node_name_count(context, '/my_ns/my_node') == 1
+    assert request.node_name == 'my_node'
+    assert request.node_namespace == '/my_ns'
+    assert len(request.parameters) == 5
+    assert request.parameters[0].name == 'some_int'
+    assert request.parameters[0].value.integer_value == 42
+    assert request.parameters[1].name == 'a_string'
+    assert request.parameters[1].value.string_value == 'Hello world'
+    assert request.parameters[2].value.string_value == ''
+
+    # Case 4: node name without namespace
+    context = _assert_launch_no_errors([
+        _load_composable_node(
+            package='foo_package',
+            plugin='bar_plugin',
+            name='test_node_name',
+            namespace='',
+            parameters=[
+                parameters_file_dir / 'example_parameters_no_namespace.yaml'
+            ],
+        )
+    ])
+    request = mock_component_container.requests[3]
+    assert get_node_name_count(context, '//test_node_name') == 1
+    assert request.node_name == 'test_node_name'
+    assert request.node_namespace == '/'
+    assert len(request.parameters) == 1
+    assert request.parameters[0].name == 'param'
+    assert request.parameters[0].value.integer_value == 2
+
+    # Case 5: wildcard
+    context = _assert_launch_no_errors([
+        _load_composable_node(
+            package='foo_package',
+            plugin='bar_plugin',
+            name='my_node',
+            namespace='wildcard_ns',
+            parameters=[
+                parameters_file_dir / 'example_parameters_wildcard.yaml'
+            ],
+        )
+    ])
+    request = mock_component_container.requests[4]
+    assert get_node_name_count(context, '/wildcard_ns/my_node') == 1
+    assert request.node_name == 'my_node'
+    assert request.node_namespace == '/wildcard_ns'
+    assert len(request.parameters) == 1
+    assert request.parameters[0].name == 'param'
+    assert request.parameters[0].value.string_value == 'wildcard'
+
+
 def test_load_node_with_global_remaps_in_group(mock_component_container):
     """Test loading a node with global remaps scoped to a group."""
     context = _assert_launch_no_errors([

From 4aebebdd2473f922ad5e1a29c67b8c63079b279d Mon Sep 17 00:00:00 2001
From: Rebecca Butler <rebecca@openrobotics.org>
Date: Thu, 26 Aug 2021 16:22:55 -0400
Subject: [PATCH 03/11] Update to work for multiple entries in yaml

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>
---
 .../utilities/to_parameters_list.py           | 52 +++++++++-------
 .../example_parameters_multiple_entries.yaml  | 14 +++++
 .../actions/example_parameters_namespace.yaml |  2 +-
 .../actions/example_parameters_no_name.yaml   |  2 +-
 .../actions/example_parameters_wildcard.yaml  |  2 +-
 .../actions/test_load_composable_nodes.py     | 62 +++++++++++++++++++
 6 files changed, 108 insertions(+), 26 deletions(-)
 create mode 100644 test_launch_ros/test/test_launch_ros/actions/example_parameters_multiple_entries.yaml

diff --git a/launch_ros/launch_ros/utilities/to_parameters_list.py b/launch_ros/launch_ros/utilities/to_parameters_list.py
index 697c6ccf..e324f786 100644
--- a/launch_ros/launch_ros/utilities/to_parameters_list.py
+++ b/launch_ros/launch_ros/utilities/to_parameters_list.py
@@ -28,16 +28,22 @@
 from ..parameters_type import EvaluatedParameters
 
 
-def search_for_key(keys, dictionary):
-    """Search for the nested "ros__parameters" key and return the keys above it."""
+def __format_dict(dictionary, keys, formatted_dict):
+    """
+    Combine namespaces and their node names into one key and remove the "ros__parameters" key.
+
+    Return an empty dict if the "ros__parameters" key is not found.
+    """
     for key, value in dictionary.items():
-        if key == "ros__parameters":
-            return (keys, value)
+        if key == 'ros__parameters':
+            node_name = '/'.join(keys)
+            formatted_dict[node_name] = value
+            return formatted_dict
         elif type(value) is dict:
-            keys.append(key)
-            return search_for_key(keys, value)
-        else:
-            return (None, None)
+            keys.append(key.lstrip('/'))
+            formatted_dict = __format_dict(value, keys, formatted_dict)
+            keys = []
+    return formatted_dict
 
 
 def to_parameters_list(
@@ -58,26 +64,26 @@ def to_parameters_list(
     :returns: a list of parameters
     """
     parameters = []  # type: List[rclpy.parameter.Parameter]
+    if not node_name:
+        print('Warning: no node name was provided. Parameter file entries that contain a '
+              'node name will not be applied')
+    if namespace:
+        namespace = namespace.lstrip('/')
+        node_name = f'{namespace}/{node_name}'
+
     for params_set_or_path in evaluated_parameters:
         if isinstance(params_set_or_path, pathlib.Path):
             with open(str(params_set_or_path), 'r') as f:
-                node_name.lstrip('/')
-                if namespace:
-                    namespace.lstrip('/')
-                    node_name = f"{namespace}/{node_name}"
                 param_dict = yaml.safe_load(f)
+                formatted_dict = __format_dict(param_dict, keys=[], formatted_dict={})
 
-                # Get all keys that come before "ros__parameters"
-                keys = []
-                inner_dict = {}
-                (keys, inner_dict) = search_for_key(keys, param_dict)
-
-                # If we found any, combine them to form the full name
-                if keys:
-                    keys = [key.lstrip('/') for key in keys]
-                    yaml_name = '/'.join(keys)
-                    if (yaml_name == node_name or yaml_name == "**"):
-                        param_dict = inner_dict
+                if formatted_dict:
+                    param_dict.clear()
+                    if '**' in formatted_dict:
+                        param_dict = formatted_dict['**']
+                    if node_name in formatted_dict:
+                        for param, value in formatted_dict[node_name].items():
+                            param_dict[param] = value
 
                 params_set = evaluate_parameter_dict(
                     context, normalize_parameter_dict(param_dict)
diff --git a/test_launch_ros/test/test_launch_ros/actions/example_parameters_multiple_entries.yaml b/test_launch_ros/test/test_launch_ros/actions/example_parameters_multiple_entries.yaml
new file mode 100644
index 00000000..a332fcda
--- /dev/null
+++ b/test_launch_ros/test/test_launch_ros/actions/example_parameters_multiple_entries.yaml
@@ -0,0 +1,14 @@
+/ns_1:
+  /node_1:
+    ros__parameters:
+      param_1: 1
+      param_2: 2
+
+/**:
+  ros__parameters:
+    param_2: 22
+    param_3: 33
+
+ns_2/node_2:
+    ros__parameters:
+      param_3: 3
diff --git a/test_launch_ros/test/test_launch_ros/actions/example_parameters_namespace.yaml b/test_launch_ros/test/test_launch_ros/actions/example_parameters_namespace.yaml
index edad0e91..093083b6 100644
--- a/test_launch_ros/test/test_launch_ros/actions/example_parameters_namespace.yaml
+++ b/test_launch_ros/test/test_launch_ros/actions/example_parameters_namespace.yaml
@@ -1,3 +1,3 @@
 ns/test_node_name:
   ros__parameters:
-    param: 1
\ No newline at end of file
+    param: 1
diff --git a/test_launch_ros/test/test_launch_ros/actions/example_parameters_no_name.yaml b/test_launch_ros/test/test_launch_ros/actions/example_parameters_no_name.yaml
index 91015e73..353cde91 100644
--- a/test_launch_ros/test/test_launch_ros/actions/example_parameters_no_name.yaml
+++ b/test_launch_ros/test/test_launch_ros/actions/example_parameters_no_name.yaml
@@ -1,2 +1,2 @@
 some_int: 42
-a_string: "Hello world"
\ No newline at end of file
+a_string: "Hello world"
diff --git a/test_launch_ros/test/test_launch_ros/actions/example_parameters_wildcard.yaml b/test_launch_ros/test/test_launch_ros/actions/example_parameters_wildcard.yaml
index 85198d89..92cb9316 100644
--- a/test_launch_ros/test/test_launch_ros/actions/example_parameters_wildcard.yaml
+++ b/test_launch_ros/test/test_launch_ros/actions/example_parameters_wildcard.yaml
@@ -1,3 +1,3 @@
 /**:
   ros__parameters:
-    param: "wildcard"
\ No newline at end of file
+    param: "wildcard"
diff --git a/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py b/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
index 55c593ba..e895178a 100644
--- a/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
+++ b/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
@@ -39,6 +39,7 @@
 
 TEST_CONTAINER_NAME = 'mock_component_container'
 TEST_NODE_NAME = 'test_load_composable_nodes_node'
+parameters_file_dir = pathlib.Path(__file__).resolve().parent
 
 
 class MockComponentContainer(rclpy.node.Node):
@@ -324,6 +325,67 @@ def test_load_node_with_param_file(mock_component_container):
     assert request.parameters[0].name == 'param'
     assert request.parameters[0].value.string_value == 'wildcard'
 
+    # Case 6: multiple entries (params with node name should take precedence over wildcard params)
+    context = _assert_launch_no_errors([
+        _load_composable_node(
+            package='foo_package',
+            plugin='bar_plugin',
+            name='node_1',
+            namespace='ns_1',
+            parameters=[
+                parameters_file_dir / 'example_parameters_multiple_entries.yaml'
+            ],
+        ),
+        _load_composable_node(
+            package='foo_package',
+            plugin='bar_plugin',
+            name='node_2',
+            namespace='ns_2',
+            parameters=[
+                parameters_file_dir / 'example_parameters_multiple_entries.yaml'
+            ],
+        )
+    ])
+    request = mock_component_container.requests[5]
+    assert get_node_name_count(context, '/ns_1/node_1') == 1
+    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
+
+    request = mock_component_container.requests[6]
+    assert get_node_name_count(context, '/ns_2/node_2') == 1
+    assert request.node_name == 'node_2'
+    assert request.node_namespace == '/ns_2'
+    assert len(request.parameters) == 2
+    assert request.parameters[0].name == 'param_2'
+    assert request.parameters[0].value.integer_value == 22
+    assert request.parameters[1].name == 'param_3'
+    assert request.parameters[1].value.integer_value == 3
+
+    # Case 7: node name not found
+    context = _assert_launch_no_errors([
+        _load_composable_node(
+            package='foo_package',
+            plugin='bar_plugin',
+            name='wrong_node_name',
+            namespace='ns',
+            parameters=[
+                parameters_file_dir / 'example_parameters_no_namespace.yaml'
+            ],
+        )
+    ])
+    request = mock_component_container.requests[7]
+    assert get_node_name_count(context, '/ns/wrong_node_name') == 1
+    assert request.node_name == 'wrong_node_name'
+    assert request.node_namespace == '/ns'
+    assert len(request.parameters) == 0
+
 
 def test_load_node_with_global_remaps_in_group(mock_component_container):
     """Test loading a node with global remaps scoped to a group."""

From 3eabbe4cc5e32bb5cf0fec719c4c5fee8dae2658 Mon Sep 17 00:00:00 2001
From: Rebecca Butler <rebecca@openrobotics.org>
Date: Thu, 26 Aug 2021 16:25:45 -0400
Subject: [PATCH 04/11] Fix deleted line

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>
---
 launch_ros/launch_ros/utilities/to_parameters_list.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/launch_ros/launch_ros/utilities/to_parameters_list.py b/launch_ros/launch_ros/utilities/to_parameters_list.py
index e324f786..fcb4ef7e 100644
--- a/launch_ros/launch_ros/utilities/to_parameters_list.py
+++ b/launch_ros/launch_ros/utilities/to_parameters_list.py
@@ -64,6 +64,7 @@ def to_parameters_list(
     :returns: a list of parameters
     """
     parameters = []  # type: List[rclpy.parameter.Parameter]
+    node_name = node_name.lstrip('/')
     if not node_name:
         print('Warning: no node name was provided. Parameter file entries that contain a '
               'node name will not be applied')

From 0ddbb4686be924f326f3dd6d1aa84611643699fe Mon Sep 17 00:00:00 2001
From: Rebecca Butler <rebecca@openrobotics.org>
Date: Thu, 26 Aug 2021 16:28:12 -0400
Subject: [PATCH 05/11] Remove duplicated line

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>
---
 .../test/test_launch_ros/actions/test_load_composable_nodes.py   | 1 -
 1 file changed, 1 deletion(-)

diff --git a/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py b/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
index e895178a..d7c510d0 100644
--- a/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
+++ b/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
@@ -39,7 +39,6 @@
 
 TEST_CONTAINER_NAME = 'mock_component_container'
 TEST_NODE_NAME = 'test_load_composable_nodes_node'
-parameters_file_dir = pathlib.Path(__file__).resolve().parent
 
 
 class MockComponentContainer(rclpy.node.Node):

From e6de2116496d7a962ec6b580a9e13000d8b91fcf Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Fri, 10 Sep 2021 12:07:43 -0700
Subject: [PATCH 06/11] Address reviewer comments

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
---
 launch_ros/launch_ros/utilities/to_parameters_list.py | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/launch_ros/launch_ros/utilities/to_parameters_list.py b/launch_ros/launch_ros/utilities/to_parameters_list.py
index fcb4ef7e..dbfa8fcf 100644
--- a/launch_ros/launch_ros/utilities/to_parameters_list.py
+++ b/launch_ros/launch_ros/utilities/to_parameters_list.py
@@ -16,6 +16,7 @@
 
 import pathlib
 from typing import List
+import warnings
 
 from launch.launch_context import LaunchContext
 import rclpy.parameter
@@ -66,8 +67,10 @@ def to_parameters_list(
     parameters = []  # type: List[rclpy.parameter.Parameter]
     node_name = node_name.lstrip('/')
     if not node_name:
-        print('Warning: no node name was provided. Parameter file entries that contain a '
-              'node name will not be applied')
+        warnings.warn(
+            'node name not provided to launch; parameter file entries will not be applied',
+            UserWarning
+        )
     if namespace:
         namespace = namespace.lstrip('/')
         node_name = f'{namespace}/{node_name}'
@@ -83,8 +86,7 @@ def to_parameters_list(
                     if '**' in formatted_dict:
                         param_dict = formatted_dict['**']
                     if node_name in formatted_dict:
-                        for param, value in formatted_dict[node_name].items():
-                            param_dict[param] = value
+                        param_dict.update(formatted_dict[node_name])
 
                 params_set = evaluate_parameter_dict(
                     context, normalize_parameter_dict(param_dict)

From 1f1ed6ef87704eae94590d02b30f9a29a675c8a9 Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Fri, 10 Sep 2021 12:37:37 -0700
Subject: [PATCH 07/11] Emit warning iff no node name and ros__parameters
 foramt is used

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
---
 .../launch_ros/utilities/to_parameters_list.py       | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/launch_ros/launch_ros/utilities/to_parameters_list.py b/launch_ros/launch_ros/utilities/to_parameters_list.py
index dbfa8fcf..7839dd6b 100644
--- a/launch_ros/launch_ros/utilities/to_parameters_list.py
+++ b/launch_ros/launch_ros/utilities/to_parameters_list.py
@@ -66,15 +66,11 @@ def to_parameters_list(
     """
     parameters = []  # type: List[rclpy.parameter.Parameter]
     node_name = node_name.lstrip('/')
-    if not node_name:
-        warnings.warn(
-            'node name not provided to launch; parameter file entries will not be applied',
-            UserWarning
-        )
     if namespace:
         namespace = namespace.lstrip('/')
         node_name = f'{namespace}/{node_name}'
 
+    warned_once = False
     for params_set_or_path in evaluated_parameters:
         if isinstance(params_set_or_path, pathlib.Path):
             with open(str(params_set_or_path), 'r') as f:
@@ -87,6 +83,12 @@ def to_parameters_list(
                         param_dict = formatted_dict['**']
                     if node_name in formatted_dict:
                         param_dict.update(formatted_dict[node_name])
+                    if not warned_once and not node_name:
+                        warnings.warn(
+                            'node name not provided to launch; parameter files will not apply',
+                            UserWarning
+                        )
+                        warned_once = True
 
                 params_set = evaluate_parameter_dict(
                     context, normalize_parameter_dict(param_dict)

From 9de076764d24ee693a89ebb53e50af30713e2f98 Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Mon, 20 Sep 2021 21:36:48 -0700
Subject: [PATCH 08/11] Refactor after review

- Rename private function for dealing with ros__parameters entries
- Keep recursive parameters internal to function
- Skip evaluating parameters if dictionary is empty
- Use isinstance
- Strip trailing and leading '/' from node namespace

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
---
 .../utilities/to_parameters_list.py           | 52 +++++++++++--------
 1 file changed, 31 insertions(+), 21 deletions(-)

diff --git a/launch_ros/launch_ros/utilities/to_parameters_list.py b/launch_ros/launch_ros/utilities/to_parameters_list.py
index 7839dd6b..55156901 100644
--- a/launch_ros/launch_ros/utilities/to_parameters_list.py
+++ b/launch_ros/launch_ros/utilities/to_parameters_list.py
@@ -29,22 +29,30 @@
 from ..parameters_type import EvaluatedParameters
 
 
-def __format_dict(dictionary, keys, formatted_dict):
+def __normalize_parameters_dict(dictionary):
     """
     Combine namespaces and their node names into one key and remove the "ros__parameters" key.
 
     Return an empty dict if the "ros__parameters" key is not found.
     """
-    for key, value in dictionary.items():
-        if key == 'ros__parameters':
-            node_name = '/'.join(keys)
-            formatted_dict[node_name] = value
-            return formatted_dict
-        elif type(value) is dict:
-            keys.append(key.lstrip('/'))
-            formatted_dict = __format_dict(value, keys, formatted_dict)
-            keys = []
-    return formatted_dict
+    # Recursive function
+    def normalize_parameters_dict(dictionary, keys, result_dict):
+        for key, value in dictionary.items():
+            # Base case: found 'ros__parameters' key
+            # Return
+            if key == 'ros__parameters':
+                node_name = '/'.join(keys)
+                result_dict[node_name] = value
+                return result_dict
+
+            if isinstance(value, dict):
+                keys.append(key.lstrip('/'))
+                result_dict = normalize_parameters_dict(value, keys, result_dict)
+                keys = []
+
+        return result_dict
+
+    return normalize_parameters_dict(dictionary, [], {})
 
 
 def to_parameters_list(
@@ -67,22 +75,23 @@ def to_parameters_list(
     parameters = []  # type: List[rclpy.parameter.Parameter]
     node_name = node_name.lstrip('/')
     if namespace:
-        namespace = namespace.lstrip('/')
+        namespace = namespace.strip('/')
         node_name = f'{namespace}/{node_name}'
 
+    params_set = {}
     warned_once = False
     for params_set_or_path in evaluated_parameters:
         if isinstance(params_set_or_path, pathlib.Path):
             with open(str(params_set_or_path), 'r') as f:
                 param_dict = yaml.safe_load(f)
-                formatted_dict = __format_dict(param_dict, keys=[], formatted_dict={})
+                normalized_param_dict = __normalize_parameters_dict(param_dict)
 
-                if formatted_dict:
+                if normalized_param_dict:
                     param_dict.clear()
-                    if '**' in formatted_dict:
-                        param_dict = formatted_dict['**']
-                    if node_name in formatted_dict:
-                        param_dict.update(formatted_dict[node_name])
+                    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])
                     if not warned_once and not node_name:
                         warnings.warn(
                             'node name not provided to launch; parameter files will not apply',
@@ -90,9 +99,10 @@ def to_parameters_list(
                         )
                         warned_once = True
 
-                params_set = evaluate_parameter_dict(
-                    context, normalize_parameter_dict(param_dict)
-                )
+                if param_dict:
+                    params_set = evaluate_parameter_dict(
+                        context, normalize_parameter_dict(param_dict)
+                    )
         else:
             params_set = params_set_or_path
         if not isinstance(params_set, dict):

From 5adffa8e99561a831a4d6521a946cf51a71b87b5 Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Thu, 30 Sep 2021 17:14:46 -0700
Subject: [PATCH 09/11] Remove unnecessary line

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
---
 launch_ros/launch_ros/utilities/to_parameters_list.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/launch_ros/launch_ros/utilities/to_parameters_list.py b/launch_ros/launch_ros/utilities/to_parameters_list.py
index 55156901..bd10aece 100644
--- a/launch_ros/launch_ros/utilities/to_parameters_list.py
+++ b/launch_ros/launch_ros/utilities/to_parameters_list.py
@@ -48,7 +48,6 @@ def normalize_parameters_dict(dictionary, keys, result_dict):
             if isinstance(value, dict):
                 keys.append(key.lstrip('/'))
                 result_dict = normalize_parameters_dict(value, keys, result_dict)
-                keys = []
 
         return result_dict
 

From c7844b54984d0b916c3d9a2c4dbcc039038c050f Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Tue, 19 Oct 2021 14:01:09 -0700
Subject: [PATCH 10/11] Reset keys list in case of dictionary value

We actually do this for the case of multiple entries like this:

    /ns_1:
      /node_1:
        ros__parameters:
          param_1: 1
          param_2: 2

    /**:
      ros__parameters:
        param_2: 22
        param_3: 33

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
---
 launch_ros/launch_ros/utilities/to_parameters_list.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/launch_ros/launch_ros/utilities/to_parameters_list.py b/launch_ros/launch_ros/utilities/to_parameters_list.py
index bd10aece..b3d78959 100644
--- a/launch_ros/launch_ros/utilities/to_parameters_list.py
+++ b/launch_ros/launch_ros/utilities/to_parameters_list.py
@@ -48,6 +48,8 @@ def normalize_parameters_dict(dictionary, keys, result_dict):
             if isinstance(value, dict):
                 keys.append(key.lstrip('/'))
                 result_dict = normalize_parameters_dict(value, keys, result_dict)
+                # Reset keys in case there are multiple ros__parameter entries
+                keys = []
 
         return result_dict
 

From bd1bc63d0b618e5b5944d7b46ec0be3dfd24b6d2 Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Tue, 19 Oct 2021 15:53:42 -0700
Subject: [PATCH 11/11] Use separate test file for test_load_composable_nodes

Rather than reusing the test file that is used in test_node.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
---
 .../actions/example_parameters_nested_namespace.yaml   | 10 ++++++++++
 .../actions/test_load_composable_nodes.py              |  2 +-
 2 files changed, 11 insertions(+), 1 deletion(-)
 create mode 100644 test_launch_ros/test/test_launch_ros/actions/example_parameters_nested_namespace.yaml

diff --git a/test_launch_ros/test/test_launch_ros/actions/example_parameters_nested_namespace.yaml b/test_launch_ros/test/test_launch_ros/actions/example_parameters_nested_namespace.yaml
new file mode 100644
index 00000000..a4166eb8
--- /dev/null
+++ b/test_launch_ros/test/test_launch_ros/actions/example_parameters_nested_namespace.yaml
@@ -0,0 +1,10 @@
+/my_ns:
+    my_node:
+        ros__parameters:
+            some_int: 42
+            a_string: "Hello world"
+            no_string: ""
+            some_list:
+                sub_list:
+                    some_integers: [1, 2, 3, 4]
+                    some_doubles : [3.14, 2.718]
diff --git a/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py b/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
index d7c510d0..d16ea33a 100644
--- a/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
+++ b/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
@@ -269,7 +269,7 @@ def test_load_node_with_param_file(mock_component_container):
             name='my_node',
             namespace='my_ns',
             parameters=[
-                parameters_file_dir / 'example_parameters.yaml'
+                parameters_file_dir / 'example_parameters_nested_namespace.yaml'
             ],
         )
     ])