Support namespace and node name wildcards

Signed-off-by: Aaron Lipinski <aaron.lipinski@roboticsplus.co.nz>
ros2 · Aug 18, 2020 · da57c05 · da57c05
1 parent 3270aad
commit da57c05
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
@@ -109,8 +109,12 @@ NodeParameters::NodeParameters(
       rclcpp::ParameterMap initial_map = rclcpp::parameter_map_from(params);
 
       // Enforce wildcard matching precedence
-      // TODO(cottsay) implement further wildcard matching
-      const std::vector<std::string> node_matching_names{"/**", combined_name_};
+      const std::vector<std::string> node_matching_names{
+          "/**",
+          "/*/" + std::string(node_base->get_name()),
+          std::string(node_base->get_namespace()) + "/*",
+          combined_name_};
+
       for (const auto & node_name : node_matching_names) {
         if (initial_map.count(node_name) > 0) {
           // Combine parameter yaml files, overwriting values in older ones