Yarp: Problem overwriting group param

[jeljaik]

Hello guys,

I'm trying to overwrite the value of a group parameter from console and what I'm getting is just an additional param/value pair added to the corresponding group.

This is how I'm passing the new value from terminal, as instructed here.

walking-client --MIQP_CONTROLLER_PARAMS::N 20

Then after configuring the RF, if I do rf.toString() I get the following:

rf (period 10) (from walking-client.ini) (robot icubGazeboSim) (MIQP_CONTROLLER_PARAMS (N 20)  (dCoMxRef 0.0) (dCoMyRef 0.0) (N 15)

You can see how the list for MIQP_CONTROLLER_PARAMS now contains (N 15) and (N 20) instead of overwriting the value in my config file.

I'm using yarp 2.3.66.

Thanks

[Nicogene]

Hi @jeljaik,

this behavior is reproducible also using the ini files, e.g. yarpdev --from test_grabber.ini where test_grabber.ini is:

device test_grabber
[MIQP_CONTROLLER_PARAMS]
N 15
N 20

you will have a Property like this:

(MIQP_CONTROLLER_PARAMS (N 15) (N 20)) (device test_grabber)

The problem is that the groups are Bottle and Bottle have not any uniqueness constraint, so the other N will be add to the bottle without overwriting the old value.
Bottle inherits from Searchable find* methods that use a key-value mechanism to find an element that in this case has NOT a "map" structure.
The problem is quite articulated, the ways to solve could be two:

• Make the groups Property
• Add the uniqueness constraint to Bottle

I don't know which is more feasible, I'm sure that both options are painful :smile:

For now to solve your problem you can use:

walking-client --MIQP_CONTROLLER_PARAMS "(N 20)"

It is just a workaround

[traversaro]

I think that making the groups Property is the correct way to go, the Bottle class has been used for too many year to change its semantics/behavior.

[lornat75]

I agree!