support wildcards for just namespaces, or just nodes

[rpaaron]

Feature request

Feature description

support wildcards for just namespaces, or just nodes

/**:
    ros__parameters:
        applies_to_all_nodes_in_all_namespaces: true

would be nice also to have

some_namespace:
    *:
        ros__parameters:
            applies_to_all_nodes_in_particular_namespace: true

and

/*:
    some_node:
        ros__parameters:
            applies_to_particular_node_in_all_namespaces: true

is there a way currently to achieve this?

[fujitatomoya]

I think that it would be really nice to describe wildcard format in https://index.ros.org/doc/ros2/Tutorials/Node-arguments/#setting-parameters-from-yaml-files. (After this PR is merged.)

[clalancette]

@rpaaron Thanks for the issue and the pull request implementing it. Before we go too far on the implementation, though, we should settle on the design first. Towards that end, could you please propose a modification to http://design.ros2.org/articles/static_remapping.html for the design? Thanks.

[jacobperron]

Correct me if I'm wrong, but using wildcards as proposed here looks consistent with how name matching is described in the design doc. It still might be useful to add concrete examples when it comes to using them in parameter files, either in the design doc or in the tutorial as @fujitatomoya suggests.

[rpaaron]

I think these changes are inline with what's written in the design document already. If not, could someone please advise what needs to change.

[jacobperron]

It wasn't obvious to me where the best place to document this feature is, but I think I've found an appropriate place and opened a PR: ros2/design#303

Reviews are appreciated 🙂

[AlexKaravaev]

Are there any plans on merging this? Or maybe achieving same functionality with latest rolling distrib.

I think this feature is quite helpful

[fujitatomoya]

#1839 should also fix this problem.

[fujitatomoya]

@AlexKaravaev it would be really nice if you could check that #1839 fixes your problem.

[tonynajjar]

This should be solved right?

[tonynajjar]

On the other hand, I noticed that this is not fixed for Composable Nodes. More specifically, a Composable node named talker that loads the following param file, will not load topic_name.

/**:
  talker:
    ros__parameters:
      topic_name: overriden_topic_name

Any idea why? Is this a bug in #1839 or composable nodes have a different implementation?

[fujitatomoya]

@iuhilnehc-ynos can you check #1265 (comment)?

[iuhilnehc-ynos]

Please see #715 (comment) or ros2/launch_ros#156 (comment).

[iuhilnehc-ynos]

ComposableNode supported both formats in ros2/launch_ros#259.
I think we need a follow-up PR to support wildcards for ComposableNode.