Action for runtime modifiable parameters in YAML config

[mhubii]

Hi there, not very certain where to raise this issue. Please redirect in case.

To my best understanding, parameters, as specified in e.g. yaml, are fixed

my_node:
  ros__parameters:
    key: value

i.e. value cannot be changed easily.

There are suggestions to parse the yaml file inside launch, then overwrite. However, this seems quite cumbersome yet a frequent task.

I don't understand the inner workings well enough, but there exist libraries that allow for runtime parameter modification / addition (https://hydra.cc/docs/intro/).

I see that dynamically adding parameters might not work in C++, but is there an Action that would allow modification during launch?

yaml_config = "path_to_config"
modified_yaml_parameters = YAMLModify(yaml_config, {"my_node.key": LaunchConfiguration("key")})