Avoid using a wildcard to specify parameters if possible

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
ros2 · Jun 24, 2020 · e7990e4 · e7990e4
1 parent e8894ce
commit e7990e4
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/launch_ros/launch_ros/actions/node.py b/launch_ros/launch_ros/actions/node.py
@@ -331,8 +331,10 @@ def is_node_name_fully_specified(self):
     def _create_params_file_from_dict(self, params):
         with NamedTemporaryFile(mode='w', prefix='launch_params_', delete=False) as h:
             param_file_path = h.name
-            # TODO(dhood): clean up generated parameter files.
-            param_dict = {'/**': {'ros__parameters': params}}
+            param_dict = {
+                self.node_name if self.is_node_name_fully_specified() else '/**':
+                {'ros__parameters': params}
+            }
             yaml.dump(param_dict, h, default_flow_style=False)
             return param_file_path
 

diff --git a/test_launch_ros/test/test_launch_ros/actions/test_node.py b/test_launch_ros/test/test_launch_ros/actions/test_node.py
@@ -165,7 +165,7 @@ def test_launch_node_with_parameter_dict(self):
         with open(expanded_parameter_files[0], 'r') as h:
             expanded_parameters_dict = yaml.load(h, Loader=yaml.FullLoader)
             assert expanded_parameters_dict == {
-                '/**': {
+                '/my_ns/my_node': {
                     'ros__parameters': {
                         'param1': 'param1_value',
                         'param2': 'param2_value',