ROS2 - Galactic: undeclare_parameter raises an exception

asked 2022-02-07 07:58:03 -0600

doronhi
31 ●3 ●6 ●8

In ROS2-Galactic, the following lines:

rcl_interfaces::msg::ParameterDescriptor desc;  
declare_parameter("aa", 5, desc);
undeclare_parameter("aa");

raise the following exception: parameter 'aa' has invalid type: cannot undeclare an statically typed parameter

The following code fixes that:

rcl_interfaces::msg::ParameterDescriptor desc;
desc.dynamic_typing=true;
declare_parameter("aa", 5, desc);
undeclare_parameter("aa");

Is this a result of PR#1522:Enforce static parameter types?

I was under the impression that the idea behind the PR was to prevent an unintentional change of the parameter's type, not to prevent its destruction. Is the way I came up with in my example the proper way to declare parameters which I intend to undeclare later on in the program?

edit retag flag offensive close merge delete

add a comment

// 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); } } }

ROS2 - Galactic: undeclare_parameter raises an exception

1 Answer

Question Tools

Stats

Related questions

ROS2 - Galactic: undeclare_parameter raises an exception edit

1 Answer

Question Tools

Stats

Related questions

ROS2 - Galactic: undeclare_parameter raises an exception