Alfi Maulana

> Using a validator before updating the parameters is all nice and well if validation can be done beforehand. But I'm running into cases where a driver will adjust parameters...

Will this issue going to be resolved? as i think renaming the header files will create a problem on other packages that depends on this package.

You can use this instead: ```cmake CPMAddPackage( NAME yaml-cpp GITHUB_REPOSITORY jbeder/yaml-cpp GIT_TAG 0.8.0 OPTIONS "YAML_CPP_BUILD_TESTS OFF" "YAML_CPP_BUILD_TOOLS OFF" ) ```

Instead of using environment variable, i suggest to use `extras_require` as could be see in [here](https://setuptools.pypa.io/en/latest/userguide/dependency_management.html#optional-dependencies). Another option is to automatically detect if it is using ROCm platform.

Actually there is a `rcl_parse_yaml_file()` under [rcl_yaml_param_parser](https://github.com/ros2/rcl/blob/master/rcl_yaml_param_parser/include/rcl_yaml_param_parser/parser.h) that could be used to parse parameters from yaml config. It returns `rcl_params_t` though, but the good news, there is also `rclcpp::parameter_map_from()` that...

Hi i also have the same issue. I just curious what may cause the point cloud transformation to change? Does it is transformed according to the published `tf` topic? or...