The parameter passing for dora node？ and nested yml files？

[RuPingCen]

1、How to pass parameters to the dora node？ When we start the dora node through dataflow.yml, can we pass parameters to the node? just like this case: we start a C/C++ executable file with " ./ xxxx arg1 arg2", and then we can receive this parameter in the "int main(int argc, char* argv[]) " function.

#include <iostream>
using namespace std;
int main(int argc, char* argv[])
{
    for(int i=0;i<argc;i++)
        cout<<argv[i]<<endl;
    return 0;
}

2、Is there any way to embed the dataflow_lidar.yml file in the dataflow1.yml file? We hope to start multiple Dora nodes through a dataflow.yml file, but currently we can only write all nodes to a single dataflow.yml file. Is there a way similar to ROS's launch file that can embed other launch files in the launch file?

<launch>

  <arg name="debug" default="false"/>

  <include file="$(find gazebo_ros)/launch/world.launch">
    <arg name="debug" value="$(arg debug)" />
    <arg name="use_sim_time" value="true"/>
  </include>

</launch>

[haixuanTao]

This is a good idea, but there is a lot of small details that needs to be handled such as how to connect the different dataflow together, how to overwrite parameters and so on.

I think that something like docker compose merging feature would be great: https://docs.docker.com/compose/multiple-compose-files/merge/

Happy to receive contribution on this, but for us maintainers, I don't think we have the bandwidth to work on this just yet

[phil-opp]

1、How to pass parameters to the dora node？

You can specify arguments through a args key in the dataflow YAML file. For example:

nodes:
  - id: some-node
    custom:
      source: xxxx
      args: arg1 arg2