Add test for no ns

Signed-off-by: Aaron Lipinski <aaron.lipinski@roboticsplus.co.nz>
ros2 · Aug 25, 2020 · 4eb68a8 · 4eb68a8
1 parent 0d23479
commit 4eb68a8
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Showing 3 changed files with 35 additions and 1 deletion.
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
@@ -110,10 +110,11 @@ NodeParameters::NodeParameters(
 
       // Enforce wildcard matching precedence
       // TODO(cottsay) implement further wildcard matching
+      auto ns = std::string(node_base->get_namespace());
       const std::vector<std::string> node_matching_names{
         "/**",
         "/*/" + std::string(node_base->get_name()),
-        std::string(node_base->get_namespace()) + "/*",
+        (ns == "/" ? "" : ns) + "/*",
         combined_name_};
 
       for (const auto & node_name : node_matching_names) {

diff --git a/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp b/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp
@@ -117,3 +117,28 @@ TEST_F(TestNodeParameters, wildcard_with_namespace)
   EXPECT_EQ(parameter_overrides.at("explicit_in_ns").get<std::string>(), "explicit_in_ns");
   EXPECT_EQ(parameter_overrides.count("should_not_appear"), 0u);
 }
+
+TEST_F(TestNodeParameters, wildcard_no_namespace)
+{
+  rclcpp::NodeOptions opts;
+  opts.arguments(
+  {
+    "--ros-args",
+    "--params-file", (test_resources_path / "wildcards.yaml").string()
+  });
+
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("node", opts);
+
+  auto * node_parameters =
+    dynamic_cast<rclcpp::node_interfaces::NodeParameters *>(
+    node->get_node_parameters_interface().get());
+  ASSERT_NE(nullptr, node_parameters);
+
+  const auto & parameter_overrides = node_parameters->get_parameter_overrides();
+  EXPECT_EQ(4u, parameter_overrides.size());
+  EXPECT_EQ(parameter_overrides.at("full_wild").get<std::string>(), "full_wild");
+  EXPECT_EQ(parameter_overrides.at("namespace_wild").get<std::string>(), "namespace_wild");
+  EXPECT_EQ(parameter_overrides.at("node_wild_no_ns").get<std::string>(), "node_wild_no_ns");
+  EXPECT_EQ(parameter_overrides.at("explicit_no_ns").get<std::string>(), "explicit_no_ns");
+  EXPECT_EQ(parameter_overrides.count("should_not_appear"), 0u);
+}
diff --git a/rclcpp/test/resources/test_node_parameters/wildcards.yaml b/rclcpp/test/resources/test_node_parameters/wildcards.yaml
@@ -17,6 +17,14 @@ ns:
     ros__parameters:
       explicit_in_ns: "explicit_in_ns" 
 
+"*":
+  ros__parameters:
+    node_wild_no_ns: "node_wild_no_ns" 
+
+node:
+  ros__parameters:
+    explicit_no_ns: "explicit_no_ns" 
+
 ns:
   nodeX:
     ros__parameters: