Feature/ros2 #40
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Feature/ros2 #40
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nathanhhughes
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Schmluk
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Jan 22, 2025
| * @param argc Number of command line arguments | ||
| * @param argv Command line argument strings | ||
| */ | ||
| YAML::Node loadFromArguments(int& argc, char* argv[], bool remove_args); |
| @@ -13,6 +13,7 @@ | |||
| <license>BSD-3-Clause</license> | |||
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| <buildtool_depend>cmake</buildtool_depend> | |||
| <depend>yaml-cpp</depend> | |||
| * @param argv Actual command line arguments. | ||
| * @param remove_arguments Remove parsed command line arguments. | ||
| */ | ||
| void initContext(int& argc, char* argv[], bool remove_arguments = true); |
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Nice! I like this version of (process-) global configs!
config_utilities/src/commandline.cpp
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| YAML::Node node; | ||
| std::filesystem::path file(filepath); | ||
| if (!fs::exists(file)) { | ||
| // TODO(nathan) log instead of manual print |
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Could just import the conf_utils (abstract) logger?
| auto& context = instance(); | ||
| auto node = YAML::Clone(other); | ||
| moveDownNamespace(node, ns); | ||
| // default behavior of context is to act like the ROS1 param server and extend sequences |
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Like this! I assume the previous implementation was not extending sequences? I would have thought the recursive implementation would do that (or maybe only maps, not lists).
| @@ -4,6 +4,8 @@ This tutorial explains how to create configs and other objects from source data. | |||
| **Contents:** | |||
| - [Parse from yaml](#parse-from-yaml) | |||
| - [Parse from ROS](#parse-from-ros) | |||
| - [Parse from the command line](#parse-from-the-command-line) | |||
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@Schmluk will follow up with you in person later, but was tired of having this half-done in perpetuity. Went a slightly different way than I was originally intending after digging into the the ROS2 launch file parsing infrastructure and as a result implemented something that is in no way tied to ROS2 😅 (but it seems like a useful paradigm even when developing without ROS). Developed the current solution with this as a working example.
Still might need to add a few more tests and think about how logging will function, but hopefully opening this will be a good forcing function for me to finish it.