add example how to use wildcards in parameter yaml file. (#4950) (#4955)

* add example how to use wildcards in parameter yaml file. Signed-off-by: Tomoya.Fujita <[email protected]> * adjust explanation a bit and typo fixes. Signed-off-by: Tomoya.Fujita <[email protected]> --------- Signed-off-by: Tomoya.Fujita <[email protected]> Signed-off-by: Tomoya.Fujita <[email protected]> (cherry picked from commit c717d69) Co-authored-by: Tomoya Fujita <[email protected]>
ros2 · Jan 21, 2025 · ee5ca93 · ee5ca93
1 parent 2aa80b1
commit ee5ca93
Showing 1 changed file with 24 additions and 0 deletions.
diff --git a/source/How-To-Guides/Node-arguments.rst b/source/How-To-Guides/Node-arguments.rst
@@ -125,6 +125,27 @@ As an example, save the following as ``demo_params.yaml``:
               some_integers: [1, 2, 3, 4]
               some_doubles : [3.14, 2.718]
 
+  /**:
+    ros__parameters:
+      wildcard_full: "Full wildcard for any namespaces and any node names"
+
+  /**/parameter_blackboard:
+    ros__parameters:
+      wildcard_namespace: "Wildcard for a specific node name under any namespace"
+
+  /*:
+    ros__parameters:
+      wildcard_nodename_root_namespace: "Wildcard for any node names, but only in root namespace"
+
+
+.. note::
+
+   Wildcards can be used for node names and namespaces.
+   ``*`` matches a single token delimited by slashes (``/``).
+   ``**`` matches zero or more tokens delimited by slashes.
+   Partial matches are not allowed (e.g. ``foo*``).
+
+
 Then either declare the parameters within your node with `declare_parameter <http://docs.ros.org/en/{DISTRO}/p/rclcpp/generated/classrclcpp_1_1Node.html#_CPPv4N6rclcpp4Node17declare_parameterERKNSt6stringERKN6rclcpp14ParameterValueERKN14rcl_interfaces3msg19ParameterDescriptorEb>`__  or `declare_parameters <http://docs.ros.org/en/{DISTRO}/p/rclcpp/generated/classrclcpp_1_1Node.html#_CPPv4I0EN6rclcpp4Node18declare_parametersENSt6vectorI10ParameterTEERKNSt6stringERKNSt3mapINSt6stringENSt4pairI10ParameterTN14rcl_interfaces3msg19ParameterDescriptorEEEEEb>`__, or `set the node to automatically declare parameters <http://docs.ros.org/en/{DISTRO}/p/rclcpp/generated/classrclcpp_1_1NodeOptions.html#_CPPv4NK6rclcpp11NodeOptions47automatically_declare_parameters_from_overridesEv>`__ if they were passed in via a command line override.
 
 Then run the following:
@@ -148,3 +169,6 @@ Other nodes will be able to retrieve the parameter values, e.g.:
   some_lists.some_doubles
   some_lists.some_integers
   use_sim_time
+  wildcard_full
+  wildcard_namespace
+  wildcard_nodename_root_namespace