YAML params in global namespace are not respected

[jarvisschultz]

Imagine I have the following files:

example.launch:

<launch>
  <group ns="example">
    <rosparam command="load" file="/path/to/test.yaml" />
  </group>
</launch>

test.yaml:

/fake_param: 20.0

Using roslaunch, this ends up with a parameter of /fake_param, using rosmon instead ends up with a parameter of /example/fake_param. Reading ROS docs on YAML restrictions, I can't find anywhere where globally resolved names in YAML files are described in a REP. So it's not clear if one should do that or what the expected outcome would be. Regardless, the behavior between rosmon and roslaunch is not the same.

[xqms]

Yep, that's a bug (like any other non-conformance with roslaunch). Thanks for reporting and condensing it down to a minimal example 👍

Reading ROS docs on YAML restrictions, I can't find anywhere where globally resolved names in YAML files are described in a REP.

I'm not surprised, a lot of roslaunch's behavior does not appear in any spec 🤷

There's a tentative fix in #131.

[xqms]

While setting up a test case I found some even crazier cases:

rosmon/rosmon_core/test/xml/test_rosparam.cpp

Lines 264 to 270 in 8993790

	<rosparam ns="ns">
	/fake_param: 20.0
	namespace:
	/other_param: 10.0
	/global_ns:
	third_param: 5.0
	</rosparam>

Anyway, tests pass and roslaunch has the same behavior on the test cases, so I merged #131. Thanks again for reporting!

[jarvisschultz]

Awesome... thanks for the fast response! Fixes the issue I was seeing.