Rewritten Yaml nested parameters about navigation2 HOT 6 CLOSED

So would '/local_costmap/local_costmap.ros__parameters.obstacle_layer.scan.topic': robot_name + '/scan', be the correct one ? It still doesn't work, I'm sorry it's probably a stupid error but can you send the full line please ?

Edit : found it, it' is :

'local_costmap.local_costmap.ros__parameters.obstacle_layer.scan.topic': '/' + robot_name + '/scan',

Thanks again for your help and everything you do for Ros in general 😄

from navigation2.

You just need to fully set the path. Either you can not set any portion of the path of a variable and change all that match or set the full path and change only the one. It does not support in between. Specify the full /local_costmap/local_costmap obstacle_layer.scan.topic or take a look at the implementation and I welcome a PR to add that feature potentially :-)

https://github.com/open-navigation/navigation2/blob/12c31c69666fc8e5642ca9db041be8f3faf47684/nav2_common/nav2_common/launch/rewritten_yaml.py#L35

from navigation2.

hooo, ok thanks 👍

I will not be able to test it until next week, i'll make sure to close the issue then if it solves the problem.
But even looking at the implementation, i don't get why it would work with other parameters such as odom_topic (see above), wouldn't i need to specify controller_server/odom_topic ?

from navigation2.

Because the leading / makes it a global match not a partial match. All your full-paths or only key variable names worked fine. The ones that didn't work are partial paths

from navigation2.

I'm sorry but i can't seem to make it work, i'm not sure of the syntaxe though, should this one work ?

I tried pretty much all combinations of where to place '/' & '.' but none worked

from navigation2.

Ah, I think because you missed a namespace for the absolute paths: https://github.com/ros-navigation/navigation2/blob/main/nav2_system_tests/src/system/test_system_launch.py#L63

ros__parameters exists (and is somewhat annoying)

from navigation2.