launch_pal.param_utils module

launch_pal.param_utils.insert_ros_param_prefix(data, prefix)

launch_pal.param_utils.merge_param_files(yaml_files)

Merge multiple param yaml files.

Substitution in ROS2 launch can only return a string. The way to combine multiple parameter files is to create a single temporary file and return the path to it, this path is passed as the “parameters” argument of a Node

yaml_files is a list of either paths to yaml files or pairs of two strings (path, prefix), so the file is loaded inside the provided prefix, inside the ros__parameters field

launch_pal.param_utils.parse_parametric_yaml(source_files: List[str], param_rewrites: Dict)

Parse a list of Parametric YAML files into a single one.

Substitutes parameters into several different YAML files in the form

parameter_node:

ros__parameters:

parameter_name: ${PARAMETER_VALUE}

by taking the value of the ${PARAMETER_VALUE} variable from the param_rewrites Dictionary

Parameters

source_filesList[Text]

List of paths of Parametric YAML files.

param_rewritesDict

Dictionary with the name and the value of each variable.

Returns

rewritten_yaml: Text Path to the Full YAML file containing all the parameters.