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feat(parameter): apply --ros-args parameter overrides from argv - #6
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hiroz::ros_args::RosArgs parses the argv of a process as rcl does. The arguments after --ros-args are ROS arguments. A section ends at -- or at the end of argv, and argv can have more than one section. remaining_args() returns all other arguments. RosArgs supports these arguments: - --params-file <path>, one or more times. - -p or --param with [node:]name:=value. All sources apply in the order of argv, and a later value wins over an earlier value. RosArgs reads and validates the parameter files when it parses argv. Any other argument in a --ros-args section is an error, as UnknownROSArgsError is in rclcpp. ZNodeBuilder::with_ros_args(&RosArgs) matches the overrides against the fully qualified name of the node at build(). The overrides replace the declared defaults, also for read-only parameters. Overrides that the builder sets still win, as NodeOptions::parameter_overrides do in rclcpp. The YAML loader now parses a file into one entry for each selector and matches each entry separately. Thus -p values and files use one parser. The loader now also follows rcl more closely: - Nested mappings become dotted parameter names. - A selector matches one segment at a time. * matches one segment and ** matches any number of segments. - The loader accepts relative namespace keys and nested namespace keys. - A sequence of integers becomes an integer array, not a byte array. - A value of a type that the loader does not support, and a sequence of mixed types, are errors. Before, the loader dropped them. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
MaxiMaerz
added this pull request to stack #7
September 29, 2026 12:18
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MaxiMaerz
marked this pull request as ready for review
September 29, 2026 12:26
pschmutz
approved these changes
Sep 29, 2026
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Summary
A hiroz node can now get its parameters from the standard ROS command line:
--ros-args --params-file <file> -p name:=value. rclcpp and rclpy nodes get parameters the same way. The batch-robotics backend needs this change, because its launcher gives the configuration of the backend as a ROS parameters file.The new API:
hiroz::ros_args::RosArgs::parse(args)andRosArgs::from_env()parse argv as rcl does.remaining_args()returns the arguments that are not ROS arguments.ZNodeBuilder::with_ros_args(&RosArgs)applies the overrides to the node atbuild(). The overrides replace the declared defaults, also for read-only parameters.Behaviour:
--params-filecan occur more than one time.-pand--paramtake[node:]name:=value. A later source wins over an earlier source.--ros-argssection is an error, asUnknownROSArgsErroris in rclcpp.NodeOptions::parameter_overridesdo in rclcpp.The YAML loader now follows rcl more closely. This also changes
with_parameter_file:This PR is stacked on #5. Merge that PR first.
Verification
cargo fmt --all -- --checkcargo clippy --all-targets -- -D warningscargo test -p hiroz --lib --tests(20 new tests forros_argsand the YAML loader)cargo test -p hiroz-tests --features ros-msgs,jazzy --test parameter_tests(14 of 14, with the newtest_ros_args_parameter_overrides)All pass.
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