safe yaml loader

USC-ACTLab · Jun 6, 2024 · f7f169a · f7f169a
1 parent beb0549
commit f7f169a
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/ros_ws/src/crazyswarm/scripts/chooser.py b/ros_ws/src/crazyswarm/scripts/chooser.py
@@ -45,7 +45,7 @@
 	def read_by_id(path):
 		by_id = {}
 		with open(path, 'r') as ymlfile:
-			root = yaml.load(ymlfile)
+			root = yaml.load(ymlfile, Loader=yaml.SafeLoader)
 			for node in root["crazyflies"]:
 				id = int(node["id"])
 				by_id[id] = node
@@ -63,7 +63,7 @@ def save():
 	allCrazyflies = read_by_id(os.path.join(args.configpath, "allCrazyflies.yaml"))
 	enabled = read_by_id(os.path.join(args.configpath, "crazyflies.yaml")).keys()
 	with open(os.path.join(args.configpath, "crazyflieTypes.yaml"), 'r') as ymlfile:
-		data = yaml.load(ymlfile)
+		data = yaml.load(ymlfile, Loader=yaml.SafeLoader)
 		cfTypes = data["crazyflieTypes"]
 
 	# compute absolute pixel coordinates from the initial positions

diff --git a/ros_ws/src/crazyswarm/scripts/pycrazyswarm/crazyflie.py b/ros_ws/src/crazyswarm/scripts/pycrazyswarm/crazyflie.py
@@ -585,9 +585,9 @@ def __init__(self, crazyflies_yaml="../launch/crazyflies.yaml"):
 
         if crazyflies_yaml.endswith(".yaml"):
             with open(crazyflies_yaml, 'r') as ymlfile:
-                cfg = yaml.load(ymlfile)
+                cfg = yaml.load(ymlfile, Loader=yaml.SafeLoader)
         else:
-            cfg = yaml.load(crazyflies_yaml)
+            cfg = yaml.load(crazyflies_yaml, Loader=yaml.SafeLoader)
 
         self.tf = TransformListener()