Yaml dot resolution within xacro call

[Alec Tiefenthal]

Normally if I were to load a yaml file

---
testbool: false

I would be able to load that up with <xacro:property name="bar" value="${xacro.load_yaml('file')}"/>
and then access testbool by doing ${bar.testbool}.
However, if the xacro was called using xacro:call (at least that seems to be the cause as best I can tell), it appears that this dot functionality no longer works.
I am forced to use ${bar['testbool']}.

[Robert Haschke]

Could you provide a complete minimal (failing) example, please?

[Alec Tiefenthal]

I tried crafting a simple example from scratch, but the issue is not quite what I thought so it doesn't reproduce there.

I'll try cutting my real world example down to size, but that will take a bit of time.

Note: Using bar['testbool'] does work for me even in the real world example, it is something relating to the dot accessor.

I'll attach a zip file of my simple scenario that I thought would reproduce the issue but does
not, just in case you want to see what I was trying to explain.
test_xacro.zip

[Alec Tiefenthal]

I believe I was wholly mistaken about the source of my issue. I was staring at it for ages and it just slipped through the cracks.

I ended up passing in the result of a yaml read into xacro (like xacro xacro file.xacro yaml_arg:="{'foobar': True}") and that allows the argument yaml_arg to be accessed with [] but not with the dot operator.

I don't believe this is necessarily a bug. If you can confirm it is not, close this and I shall work around it. If you would like more information I can throw something together.

[Robert Haschke]

I don't think you can pass in a dict object via an argument as described, because arg results are expected to be strings. 😕
In any case, you can use xacro.dotify() to turn a standard dict object into a dotified dict:

<a xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:a="http://www.ros.org/a">
	<xacro:property name="d" value="${dict(foo=False)}" />
	<xacro:property name="dotified" value="${xacro.dotify(d)}" />
	${d['foo']} ${dotified.foo}
</a>

[Alec Tiefenthal]

Passing in the argument as I described does actually seem to work, I just can't use the dot operator on it.

Doing as you have suggested and using xacro.dotify seems to allow me to use the dot operator on it no problem. Thank you very much!