Support both parameter file configurations for composable nodes

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
@@ -283,15 +283,17 @@ 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
                 )
             )
         ]
     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
                 )
             )

launch_ros/launch_ros/utilities/to_parameters_list.py

@@ -28,15 +28,31 @@
 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,
+    namespace: str,
     evaluated_parameters: EvaluatedParameters
 ) -> List[rclpy.parameter.Parameter]:
     """
     Transform evaluated parameters into a list of rclpy.parameter.Parameter objects.
 
     :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 +61,26 @@ 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:
+                node_name.lstrip('/')
+                if namespace:
+                    namespace.lstrip('/')
+                    node_name = f"{namespace}/{node_name}"
+                param_dict = yaml.safe_load(f)
+
+                # 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(yaml.safe_load(f))
+                    context, normalize_parameter_dict(param_dict)
                 )
         else:
             params_set = params_set_or_path

test_launch_ros/test/test_launch_ros/actions/example_parameters_namespace.yaml

@@ -0,0 +1,3 @@
+ns/test_node_name:
+  ros__parameters:
+    param: 1

test_launch_ros/test/test_launch_ros/actions/example_parameters_no_name.yaml

@@ -0,0 +1,2 @@
+some_int: 42
+a_string: "Hello world"

test_launch_ros/test/test_launch_ros/actions/example_parameters_no_namespace.yaml

@@ -0,0 +1,3 @@
+/test_node_name:
+  ros__parameters:
+    param: 2

test_launch_ros/test/test_launch_ros/actions/example_parameters_wildcard.yaml

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

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([