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yaml aliases/anchors not supported #106
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Hi, thanks for the report! Could you share a full I'm kind of surprised since |
also I just noticed: Where is |
param.launch.txt Here ya go. Sorry for the I tried to create a minimal example. |
Thanks! I had a look and I think the syntax you are using is not supported by yaml-cpp. See here for a PR against yaml-cpp: jbeder/yaml-cpp#300 Furthermore, the syntax is not even in the YAML spec: https://stackoverflow.com/a/47203224 Maybe it is possible to work around this in rosmon, but I doubt it, so we will have to wait for the yaml-cpp developers to implement this. But there is an alternative: You can do the same at launch file level. Example: <node ...>
<rosparam command="load" file=".../generic.yaml">
<rosparam command="load" file=".../special_A.yaml">
</node>
<node ...>
<rosparam command="load" file=".../generic.yaml">
<rosparam command="load" file=".../special_B.yaml">
</node> rosmon guarantees that |
That must be a discrepancy with the python yaml import then. Thanks for the alternative though! I'll see if we want to convert the files (this will place some of the substitution in two places, param & launch) or switch back to roslaunch. Implementing a workaround in rosmon sounds like the least neat solution. And since your referenced PR is open since 2015 I have little hopes there... |
That could actually be quite easy - just do a first pass over the YAML nodes to find all |
Hmm, might still be an option then to include this. Would be consistent with roslaunch 👍 |
Fixed by @Cartoonman in #117. |
We use yaml aliases to prevent configuration duplication.
When two nodes use a very similar set of parameters we can setup a parameter file like this:
(The two nodes being:
kalman_filter_odom
andkalman_filter_map
This is supported by roslaunch in melodic. But rosmon crashes with the following error:
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