subsequent nodes in a namespace in yaml don't get parameters applied

[Aposhian]

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• Installation type:
  • binaries
• Version or commit hash:
  • humble
• DDS implementation:
  • CycloneDDS
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

Try a params yaml like this:

namespace:
  node1:
    ros__parameters:
      param: 1.0
  node2:
    ros__parameters:
      param: 2.0

Expected behavior

node1 to have param with a value of 1.0, and node2 to have param with a value of 2.0

Actual behavior

node1 has a param set to 1.0 and node2 has a value of param that is the default. The value from yaml is not applied.

Additional information

Also reported here: https://answers.ros.org/question/394231/ros2-how-to-get-multiple-nodes-under-same-namespace-in-yaml-config-file/

Interestingly, having top level duplicate keys works, even though that is not technically valid yaml, like this:

namespace:
  node1:
    ros__parameters:
      param: 1.0
namespace:
  node2:
    ros__parameters:
      param: 2.0

[fujitatomoya]

using https://github.com/fujitatomoya/ros2_test_prover/blob/master/prover_rclcpp/src/rclcpp_2166.cpp with

testns:
  node1:
    ros__parameters:
      param: 1.0
  node2:
    ros__parameters:
      param: 2.0

i do not have the problem with rolling https://github.com/ros2/ros2/commit/fea3f22ebc1becc6303aebcc9f93bde5abf0f92d

### Start 2 nodes under namespace testns with loading parameter file
root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 run prover_rclcpp rclcpp_2166 --ros-args --params-file test_params.yaml
[INFO] [1681970561.659209435] [testns.node1]: node1 created...
[INFO] [1681970561.661174465] [testns.node2]: node2 created...

# Check parameter list for all nodes
root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 param list
/testns/node1:
  param
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  use_sim_time
/testns/node2:
  param
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  use_sim_time

unfortunately i am not sure which PR addressed this issue. CC: @iuhilnehc-ynos

[iuhilnehc-ynos]

i do not have the problem with rolling ros2/ros2@fea3f22 unfortunately i am not sure which PR addressed this issue. CC: @iuhilnehc-ynos

I am not able to reproduce the issue either in humble or rolling. More information is needed.

[fujitatomoya]

@Aposhian we are not able to reproduce the issue, can you confirm the reproducible environment?

[Aposhian]

Ok I'll try to get a repro soon