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Avoid passing parameters using a wildcard if fully qualified node name is known at launch time #154

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Jun 25, 2020
Merged

Avoid passing parameters using a wildcard if fully qualified node name is known at launch time #154

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6 changes: 4 additions & 2 deletions launch_ros/launch_ros/actions/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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

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2 changes: 1 addition & 1 deletion test_launch_ros/test/test_launch_ros/actions/test_node.py
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Expand Up @@ -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',
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