Config Merging

When a launch file includes other packages, DendROS automatically merges their dendROS.yaml configs at runtime.

---

How it works

ros2 launch my_bringup main.launch.py

ros2 launch my_bringup main.launch.py │ ├── my_bringup/config/dendROS.yaml ← primary (wins conflicts) ├── nav2_bringup/config/dendROS.yaml ← merged in └── slam_toolbox/config/dendROS.yaml ← merged in

When ros2 launch is intercepted, DendROS:

1. Parses the launch file for package references.
2. Locates each referenced package's dendROS.yaml via ros2 pkg prefix or AMENT_PREFIX_PATH.
3. Merges all configs — the primary package wins any node-name conflicts.
4. Processes output with the merged config.

Merge depth

Config merging is one level deep only — packages included by included packages are not recursively scanned (for the time being).

---

Supported formats

Python (.py)XML (.xml / .launch)

get_package_share_directory('nav2_bringup')
FindPackageShare('slam_toolbox')

<include file="$(find-pkg-share nav2_bringup)/launch/bringup.launch.py"/>

---

Conflict resolution

When the same node name appears in multiple configs, the primary package's definition wins. Among secondaries, the first one found in parse order wins.

---

Toggling

Config merging is on by default. To disable:

dendros config   # navigate to "Config merge" → off

Or per-package:

defaults:
  config_merge: false