ROS 2 rcl YAML parameter parser

Parse a YAML parameter file and populate the C data structure.

Features are described in detail at http://docs.ros2.org

The data structure params_st will then be used during node initialization

YAML parameter file should follow the yaml syntax shown below

NOTE: It only supports canonical int and float types

<node_namespace_string>:  # optional
  <node1_name>:
    ros__parameters:
      <field_name>: <field_value>
      <parameter_namespace_string>:   # optional
        <field1_name>: <field1_value>
        <field2_name>: <field2_value>
  <node2_name>:
    ros__parameters:
      <field_name>: <field_value>
      <parameter_namespace_string>:   # optional
        <field1_name>: <field1_value>
        <field2_name>: <field2_value>

This package depends on C libyaml.

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

Changelog for package rcl_yaml_param_parser

10.2.0 (2025-04-25)

10.1.0 (2025-04-04)

10.0.2 (2025-01-31)

• Cleanup errors after error paths in rcl_yaml_param_parser tests. (#1203) This gets rid of ugly "overwritten" warnings in the tests.
• Contributors: Chris Lalancette

10.0.1 (2024-11-20)

10.0.0 (2024-10-03)

9.4.1 (2024-07-29)

9.4.0 (2024-06-17)

• Add 'mimick' label to tests which use Mimick (#1152)
• Contributors: Scott K Logan

9.3.0 (2024-04-26)

9.2.1 (2024-04-16)

• Generate version header using ament_generate_version_header(..) (#1141)
• Contributors: G.A. vd. Hoorn

9.2.0 (2024-03-28)

• Update quality declaration documents (#1131)
• Contributors: Christophe Bedard

9.1.0 (2024-01-24)

9.0.0 (2023-12-26)

• Fix for incorrect integer value conversion on Windows (#1126)
• Contributors: Michael Orlov

8.0.0 (2023-11-06)

7.3.0 (2023-10-09)

7.2.0 (2023-10-04)

• Just remove rcpputils::fs dependency (#1105)
• Contributors: Kenta Yonekura

7.1.1 (2023-09-07)

7.1.0 (2023-08-21)

7.0.0 (2023-07-11)

6.3.0 (2023-06-12)

6.2.0 (2023-06-07)

6.1.1 (2023-05-11)

6.1.0 (2023-04-28)

6.0.1 (2023-04-18)

6.0.0 (2023-04-12)

• Fix some warnings from clang. (#1042)
• Contributors: Chris Lalancette

5.9.0 (2023-03-01)

5.8.0 (2023-02-23)

5.7.0 (2023-02-13)

• Cleanup the dependencies in rcl_yaml_param_parser. (#1014)
• Update rcl to C++17. (#1031)
• Support yaml string tag '!!str' (#999)
• Contributors: Barry Xu, Chris Lalancette

5.6.0 (2022-12-05)

• [rolling] Update maintainers - 2022-11-07 (#1017)
• Contributors: Audrow Nash

5.5.0 (2022-11-02)

5.4.1 (2022-09-13)

5.4.0 (2022-04-29)

5.3.1 (2022-04-26)

5.3.0 (2022-04-05)

5.2.1 (2022-03-31)

5.2.0 (2022-03-24)

5.1.0 (2022-03-01)

• Install includes it include/${PROJECT_NAME} (#959)
• Contributors: Shane Loretz

5.0.1 (2022-01-14)

5.0.0 (2021-12-14)

• Update maintainers to Ivan Paunovic and William Woodall (#952)
• Tweak rcl_yaml_param_parser documentation (#939)
• Contributors: Audrow Nash, Michel Hidalgo

4.0.0 (2021-09-16)

3.2.0 (2021-09-02)

3.1.2 (2021-04-26)

3.1.1 (2021-04-12)

3.1.0 (2021-04-06)

• updating quality declaration links (re: ros2/docs.ros2.org#52) (#909)
• Contributors: shonigmann

3.0.1 (2021-03-25)

3.0.0 (2021-03-23)

2.6.0 (2021-03-18)

2.5.2 (2021-02-05)

2.5.1 (2021-01-25)

2.5.0 (2020-12-08)

• Enable compiler warnings (#831)
• Update QDs to QL 1 (#866)
• Rearrange test logic to avoid reference to null (#862)
• Update QL (#858)
• Make sure to initialize the end_mark for yaml_event_t (#849)
• Contributors: Alejandro Hernández Cordero, Audrow Nash, Chris Lalancette, Stephen Brawner

2.4.0 (2020-10-19)

• Check for valid node names in parameters files (#809)
• Contributors: Chen Lihui

2.3.0 (2020-10-19)

• Update maintainers (#825)
• Updated performance section QD (#817)
• Several memory-related fixes for rcl_variant_t benchmarks (#813)
• Improved rcl_yaml_param_parser benchmark test (#810)
• Added benchmark test to rcl_yaml_param_parser (#803)
• Remove MAX_NUM_PARAMS_PER_NODE and MAX_NUM_NODE_ENTRIES limitation. (#802)
• Add mocking unit tests for rcl_yaml_param_parser (coverage part 3/3) (#772)
• Add fault-injection unit tests (coverage part 2/3) (#766)
• Add basic unit tests for refactored functions in rcl_yaml_param_parser (coverage part 1/3) (#771)
• Fix yaml parser error when meets .nan (refactor on #754) (#781)
• Contributors: Alejandro Hernández Cordero, Chen Lihui, Ivan Santiago Paunovic, Scott K Logan, brawner

2.2.0 (2020-09-02)

• Refactor parser.c for better testability (#754)
• Don't overwrite cur_ns pointer if reallocation fails (#780)
• Fix mem leaks in unit test from 776 (#779)
• Fix rcl_parse_yaml_file() error handling. (#776)
• Don't overwrite string_array pointer on reallocation failure (#775)
• Set yaml_variant values to NULL on finalization (#765)
• Remove debugging statements. (#755)
• Contributors: Michel Hidalgo, brawner, tomoya

2.1.0 (2020-07-22)

• Removed doxygen warnings (#712)
• Contributors: Alejandro Hernández Cordero

2.0.0 (2020-07-09)

• Update quality declaration and coverage (#674)
• Contributors: Alejandro Hernández Cordero

1.2.0 (2020-06-18)

1.1.5 (2020-06-03)

1.1.4 (2020-06-02)

1.1.3 (2020-06-01)

• Add Security Vulnerability Policy pointing to REP-2006 (#661)
• Contributors: Chris Lalancette

1.1.2 (2020-05-28)

1.1.1 (2020-05-26)

• Increase rcl_yaml_param_parser test coverage (#656)
• Contributors: Stephen Brawner

1.1.0 (2020-05-22)

• Update Quality Declaration for 1.0 (#647)
• Contributors: brawner

1.0.0 (2020-05-12)

0.9.1 (2020-05-08)

• Included features (#644)
• Quality Declarations for rcl_action, rcl_lifecycle, yaml_parser (#641)
• Contributors: Alejandro Hernández Cordero, brawner

0.9.0 (2020-04-29)

• Added rcl yaml param parser doxyfile (#634)
• Fixed rcl_yaml_param_parser package description (#637)
• Fix usage to not expose underlying yaml (#630)
• Export targets in a addition to include directories / libraries (#621)
• Remove usage of undefined CMake variable (#620)
• Fix memory leaks (#564)
• Code style only: wrap after open parenthesis if not in one line (#565)
• Contributors: Alejandro Hernández Cordero, Dirk Thomas, y-okumura-isp

0.8.3 (2019-11-08)

0.8.2 (2019-10-23)

• Specify test working directory (#529)
• Remove the maximum string size. (#524)
• Contributors: Chris Lalancette, Dan Rose

0.8.1 (2019-10-08)

0.8.0 (2019-09-26)

• Enable incremental parameter yaml file parsing. (#507)
• Support parameter overrides and remap rules flags on command line (#483)
• Increase MAX_STRING_SIZE (#487)
• include actual size in error message (#490)
• Avoid C4703 error on UWP (#282)
• [YAML Parser] Support parameter value parsing (#471)
• [YAML Parser] Depend on rcutils only (#470)
• Accept quoted int or float values as strings (#464)
• Fix memory corruption when maximum number of parameters is exceeded (#456)
• Contributors: Dirk Thomas, Esteve Fernandez, Jacob Perron, Michel Hidalgo, hyunseok-yang, ivanpauno

0.7.4 (2019-05-29)

• Allow empty strings if they are quoted. (#450)
• Contributors: Ralf Anton Beier

0.7.3 (2019-05-20)

0.7.2 (2019-05-08)

0.7.1 (2019-04-29)

0.7.0 (2019-04-14)

• Corrected bool reading from yaml files. (#415)
• Added launch along with launch_testing as test dependencies. (#393)
• Set symbol visibility to hidden for rcl. (#391)
• Contributors: Michel Hidalgo, Sachin Suresh Bhat, ivanpauno

0.6.4 (2019-01-11)

0.6.3 (2018-12-13)

0.6.2 (2018-12-13)

0.6.1 (2018-12-07)

• No changes.

0.6.0 (2018-11-16)

• Updated to use new error handling API from rcutils (#314)
• Fixed FQN=//node_name when ns is / (#299)
• Fixed documentation issues (#288)
• Fixed to deallocate ret_val to avoid memory leak (#278)
• Contributors: Chris Ye, William Woodall, dhood

0.5.0 (2018-06-25)

• Added functions to parse YAML parameter files. (#235)
• Contributors: Shane Loretz, William Woodall, anup-pem, dhood