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[MSA] Fix loading from previous config #1246

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May 13, 2022
Merged

[MSA] Fix loading from previous config #1246

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15 changes: 9 additions & 6 deletions moveit_setup_assistant/moveit_setup_framework/src/package_settings_config.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,18 +131,21 @@ void PackageSettingsConfig::loadExisting(const std::string& package_path_or_name

for (const std::string& name : config_data_->getRegisteredNames())
{
// Replace old keys with new ones
std::string yaml_key = name;
/* Generally speaking, we use each config's name as the key to read the yaml from
*
* However, for backwards compatibility, we also allow for the three legacy keys, which we translate here.
* If the name is found in BACKWARDS_KEY_LOOKUP and the legacy key is present in the yaml dictionary,
* we load using the legacy key instead.
*/
auto backwards_match = BACKWARDS_KEY_LOOKUP.find(name);
if (backwards_match != BACKWARDS_KEY_LOOKUP.end())
if (backwards_match != BACKWARDS_KEY_LOOKUP.end() && title_node[backwards_match->second].IsDefined())
{
yaml_key = backwards_match->second;
}

if (title_node[yaml_key].IsDefined())
{
config_data_->get(name)->loadPrevious(config_pkg_path_, title_node[yaml_key]);
}
// We load the previous regardless of whether the title_node[yaml_key] is actually defined
config_data_->get(name)->loadPrevious(config_pkg_path_, title_node[yaml_key]);
}
}
catch (YAML::ParserException& e) // Catch errors, translate to runtime_error
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