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HI @dornhi:

I believe the error message is as intended but I see your point:

If you look at the source code, this is when the condition is met: https://github.com/ros2/rclcpp/blob/master/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

  // Collect parameters who will have had their type changed to
  // rclcpp::PARAMETER_NOT_SET so they can later be implicitly undeclared.
  std::vector<const rclcpp::Parameter *> parameters_to_be_undeclared;
  for (const auto & parameter : *parameters_to_be_set) {
    if (rclcpp::PARAMETER_NOT_SET == parameter.get_type()) {
      auto it = parameters_.find(parameter.get_name());
      if (it != parameters_.end() && rclcpp::PARAMETER_NOT_SET != it->second.value.get_type()) {
        if (!it->second.descriptor.dynamic_typing) {
          result.reason = "cannot undeclare an statically typed parameter";
          result.successful = false;
          return result;
        }
        parameters_to_be_undeclared.push_back(&parameter);
      }
    }
  }

Can't comment about the PR, but you can find the latest on ROS2 documentation: https://docs.ros.org/en/rolling/Releases/Release-Dashing-Diademata.html#declaring-parameters

HI @dornhi:@doronhi:

I believe the error message is as intended but I see your point:

If you look at the source code, this is when the condition is met: https://github.com/ros2/rclcpp/blob/master/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

  // Collect parameters who will have had their type changed to
  // rclcpp::PARAMETER_NOT_SET so they can later be implicitly undeclared.
  std::vector<const rclcpp::Parameter *> parameters_to_be_undeclared;
  for (const auto & parameter : *parameters_to_be_set) {
    if (rclcpp::PARAMETER_NOT_SET == parameter.get_type()) {
      auto it = parameters_.find(parameter.get_name());
      if (it != parameters_.end() && rclcpp::PARAMETER_NOT_SET != it->second.value.get_type()) {
        if (!it->second.descriptor.dynamic_typing) {
          result.reason = "cannot undeclare an statically typed parameter";
          result.successful = false;
          return result;
        }
        parameters_to_be_undeclared.push_back(&parameter);
      }
    }
  }

Can't comment about the PR, but you can find the latest on ROS2 documentation: https://docs.ros.org/en/rolling/Releases/Release-Dashing-Diademata.html#declaring-parameters