Minor fix to also find the parameters from global parameter namespace

ros-controls · Sep 2, 2024 · 90b353d · 90b353d
1 parent 0212812
commit 90b353d
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/controller_manager/controller_manager/controller_manager_services.py b/controller_manager/controller_manager/controller_manager_services.py
@@ -250,7 +250,7 @@ def get_parameter_from_param_file(
 ):
  with open(parameter_file) as f:
  namespaced_controller = (
- controller_name if namespace == "/" else f"{namespace}/{controller_name}"
+ f"/{controller_name}" if namespace == "/" else f"{namespace}/{controller_name}"
  )
  WILDCARD_KEY = "/**"
  ROS_PARAMS_KEY = "ros__parameters"
@@ -261,10 +261,10 @@ def get_parameter_from_param_file(
  controller_name,
  namespaced_controller,
  f"{WILDCARD_KEY}/{controller_name}",
- f"{WILDCARD_KEY}/{namespaced_controller}",
+ f"{WILDCARD_KEY}{namespaced_controller}",
  ]:
  if key in parameters:
- if key == controller_name and controller_name != namespaced_controller:
+ if key == controller_name and namespace != "/":
  node.get_logger().fatal(
  f"{bcolors.FAIL}Missing namespace : {namespace} or wildcard in parameter file for controller : {controller_name}{bcolors.ENDC}"
  )