From 8a80f26e6e17fd6b606ff930a711e757022fb270 Mon Sep 17 00:00:00 2001
From: Kristofer Bengtsson <kristofer.bengtsson@chalmers.se>
Date: Wed, 8 Jul 2020 09:11:26 +0200
Subject: [PATCH 1/2] Fixed so that only the node name is needed in a
 params.yaml file. Before the fully qualified name was required.

node_name:
  ros__parameters:
    p1: ["a", "aa"]

The following also works:
/node_name:
/**:
**:
---
 src/lib.rs | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/lib.rs b/src/lib.rs
index 25549b2..7aef1df 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -562,7 +562,8 @@ impl Node {
                 (*(*params.as_ref())).params, (*(*params.as_ref())).num_nodes)
         };
 
-        let qualified_name = self.fully_qualified_name()?;
+        let qualified_name = self.fully_qualified_name()?; 
+        let name = self.name()?; 
 
         for (nn, np) in node_names.iter().zip(node_params) {
             let node_name_cstr = unsafe { CStr::from_ptr(*nn as *mut i8) };
@@ -571,7 +572,12 @@ impl Node {
             // This is copied from rclcpp, but there is a comment there suggesting
             // that more wildcards will be added in the future. Take note and mimic
             // their behavior.
-            if !(node_name == "/**" || qualified_name == node_name) {
+            if !(
+                node_name == "/**" || 
+                node_name == "**" || 
+                qualified_name == node_name ||
+                name == node_name
+            ) {
                 continue;
             }
 

From 576da3537b4d77b4bfde8c690a9fb70caf106146 Mon Sep 17 00:00:00 2001
From: Kristofer Bengtsson <kristofer.bengtsson@chalmers.se>
Date: Wed, 9 Sep 2020 16:31:15 +0200
Subject: [PATCH 2/2] Added a namespace method to the Node to get the namespace
 from the node.

---
 examples/parameters.rs | 1 +
 src/lib.rs             | 9 +++++++++
 2 files changed, 10 insertions(+)

diff --git a/examples/parameters.rs b/examples/parameters.rs
index 37fc555..d7bf5e5 100644
--- a/examples/parameters.rs
+++ b/examples/parameters.rs
@@ -10,6 +10,7 @@ fn main() -> Result<(), Error> {
 
     println!("node name: {}", node.name()?);
     println!("node fully qualified name: {}", node.fully_qualified_name()?);
+    println!("node namespace: {}", node.namespace()?);
 
     println!("node parameters");
     node.params.iter().for_each(|(k,v)| {
diff --git a/src/lib.rs b/src/lib.rs
index 7aef1df..461c0c5 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -536,6 +536,15 @@ impl Node {
         Ok(s.to_str().unwrap_or("").to_owned())
     }
 
+    pub fn namespace(&self) -> Result<String> {
+        let cstr = unsafe { rcl_node_get_namespace(self.node_handle.as_ref()) };
+        if cstr == std::ptr::null() {
+            return Err(Error::RCL_RET_NODE_INVALID);
+        }
+        let s = unsafe { CStr::from_ptr(cstr as *const i8) };
+        Ok(s.to_str().unwrap_or("").to_owned())
+    }
+
     fn load_params(&mut self) -> Result<()> {
         let ctx = self.context.context_handle.lock().unwrap();
         let mut params: Box<*mut rcl_params_t> = Box::new(std::ptr::null_mut());