diff --git a/rosjava_helpers/build.gradle b/rosjava_helpers/build.gradle
new file mode 100644
index 0000000000000000000000000000000000000000..977be790d2eca35cad329c393a76d2eaa956db6c
--- /dev/null
+++ b/rosjava_helpers/build.gradle
@@ -0,0 +1,6 @@
+apply plugin: 'java'
+
+dependencies {
+ compile project(':rosjava')
+ compile 'org.yaml:snakeyaml:[1.17, 1.18)'
+}
\ No newline at end of file
diff --git a/rosjava_helpers/src/main/java/org/ros/helpers/ParameterLoaderNode.java b/rosjava_helpers/src/main/java/org/ros/helpers/ParameterLoaderNode.java
new file mode 100644
index 0000000000000000000000000000000000000000..47aa44069c47f9677a858a887254447f3f7503f8
--- /dev/null
+++ b/rosjava_helpers/src/main/java/org/ros/helpers/ParameterLoaderNode.java
@@ -0,0 +1,138 @@
+/*
+ * Copyright 2017 Ekumen, Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.ros.helpers;
+
+import org.apache.commons.logging.Log;
+import org.ros.namespace.GraphName;
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.node.parameter.ParameterTree;
+import org.yaml.snakeyaml.Yaml;
+
+import java.io.InputStream;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * Loads parameters from Yaml files into the ROS parameter server.
+ * A different namespace can be specified for each of the files to load.
+ * To use this node, create a {@link Resource} list with the resources to load,
+ * and start it in the standard RosJava way.
+ *
+ * @author lucas@ekumenlabs.com (Lucas Chiesa).
+ * Modified by jubeira@ekumenlabs.com (Juan I. Ubeira)
+ */
+public class ParameterLoaderNode extends AbstractNodeMain {
+
+ public static final String NODE_NAME = "parameter_loader";
+ private final List<LoadedResource> params = new ArrayList<>();
+ private Log log;
+
+ /**
+ * Default constructor
+ * @param resources Array of resources with their respective namespace to load.
+ */
+ public ParameterLoaderNode(ArrayList<Resource> resources) {
+ for (Resource r : resources) {
+ addSingleYmlInput(r.inputStream, r.namespace == null ? "" : r.namespace);
+ }
+ }
+
+ private void addSingleYmlInput(InputStream ymlInputStream, String namespace) {
+ this.params.add(new LoadedResource((new Yaml()).load(ymlInputStream), namespace));
+ }
+
+ private void addParams(ParameterTree parameterTree, String namespace, Map<String, Object> params) {
+ for (Map.Entry<String, Object> e : params.entrySet()) {
+ String fullKeyName = namespace + "/" + e.getKey();
+ if (log != null) {
+ log.info("Loading parameter " + fullKeyName + " \nValue = " + e.getValue());
+ }
+
+ if (e.getValue() instanceof String) {
+ parameterTree.set(fullKeyName, (String)e.getValue());
+ } else if (e.getValue() instanceof Integer) {
+ parameterTree.set(fullKeyName, (Integer)e.getValue());
+ } else if (e.getValue() instanceof Double) {
+ parameterTree.set(fullKeyName, (Double)e.getValue());
+ } else if (e.getValue() instanceof Map) {
+ parameterTree.set(fullKeyName, (Map)e.getValue());
+ } else if (e.getValue() instanceof Boolean) {
+ parameterTree.set(fullKeyName, (Boolean)e.getValue());
+ } else if (e.getValue() instanceof List) {
+ parameterTree.set(fullKeyName, (List)e.getValue());
+ } else if (log != null) {
+ log.debug("I don't know what type parameter " + fullKeyName + " is. Value = " + e.getValue());
+ log.debug("Class name is: " + e.getValue().getClass().getName());
+ }
+ }
+ }
+
+ /**
+ * @return the name of the Node that will be used if a name was not
+ * specified in the Node's associated NodeConfiguration.
+ */
+ @Override
+ public GraphName getDefaultNodeName() {
+ return GraphName.of(NODE_NAME);
+ }
+
+ @Override
+ public void onStart(ConnectedNode connectedNode) {
+ if (params != null) {
+ ParameterTree parameterTree = connectedNode.getParameterTree();
+ log = connectedNode.getLog();
+
+ // TODO: For some reason, setting the / param when using a rosjava master doesn't work
+ // It does work fine with an external master, and also setting other params of any type
+ for (LoadedResource r : params) {
+ addParams(parameterTree, r.namespace, r.resource);
+ }
+
+ connectedNode.shutdown();
+ }
+ }
+
+ /**
+ * Resource to load to Parameter Server, consisting of an InputStream and its corresponding namespace.
+ */
+ public static class Resource {
+ public InputStream inputStream;
+ public String namespace;
+
+ public Resource(InputStream inputStream, String namespace) {
+ this.inputStream = inputStream;
+ this.namespace = namespace;
+ }
+ }
+
+ /**
+ * Thin wrapper for the object returned by Yaml.load().
+ * The object returned by Yaml.load() is a LinkedHashMap<String, Object>; this class is to
+ * keep the code simple.
+ */
+ private class LoadedResource {
+ public Map<String, Object> resource;
+ public String namespace;
+
+ LoadedResource(Object resource, String namespace) {
+ this.resource = (Map<String, Object>) resource;
+ this.namespace = namespace;
+ }
+ }
+}
diff --git a/settings.gradle b/settings.gradle
index fe2c0a46c9cb27456e03a56c27e61baa94c32653..f86bd0d5d6c744bea411f814f82bcbfaf9cb8365 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -22,9 +22,10 @@ include(
'rosjava_geometry',
'rosjava_benchmarks',
'rosjava_test',
+ 'rosjava_helpers',
'rosjava_tutorial_pubsub',
'rosjava_tutorial_right_hand_rule',
'rosjava_tutorial_services',
'docs',
- )
+)