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Your YAML snippet looks incorrect. See the documentation for an example:

-
  ros1_package_name: 'ros1_pkg_name'
  ros1_message_name: 'ros1_msg_name'
  ros2_package_name: 'ros2_pkg_name'
  ros2_message_name: 'ros2_msg_name'
  fields_1_to_2:
    foo: 'foo'
    ros1_bar: 'ros2_bar'

Note the dash (-) in the very first line which makes all the following key-values a first item in a list. In order to enumerate multiple entries each of them must have that leading line with that dash (indicating a separate item in the list):

-
  ros1_package_name: 'ros1_pkgA_name'
  ros1_message_name: 'ros1_msgA_name'
  ros2_package_name: 'ros2_pkgA_name'
  ros2_message_name: 'ros2_msgA_name'
  fields_1_to_2:
    foo: 'foo'
    ros1_bar: 'ros2_bar'
-
  ros1_package_name: 'ros1_pkgB_name'
  ros1_message_name: 'ros1_msgB_name'
  ros2_package_name: 'ros2_pkgB_name'
  ros2_message_name: 'ros2_msgB_name'
  fields_1_to_2:
    foo: 'foo'
    ros1_bar: 'ros2_bar'