Function template version of declare_parameter does not work with uint32_t and uint64_t #1743
Description
Bug report
Required Info:
- Operating System:
- Linux Mint 20.1 (based on Ubuntu 20.04)
- Installation type:
- ROS 2 Galactic Geochelone Debian packages for Ubuntu Focal
- Version or commit hash:
- Latest Galactic Geochelone
- DDS implementation:
- default one shipped with the Debian package -> Cyclone DDS
- Client library (if applicable):
- rclcpp
Steps to reproduce issue
The minimal (non)working example is based on the tutorial for Using parameters in a class (C++):
#include <rclcpp/rclcpp.hpp>
#include <chrono>
#include <string>
#include <functional>
using namespace std::chrono_literals;
class ParametersClass: public rclcpp::Node
{
public:
ParametersClass()
: Node("parameter_node")
{
this->declare_parameter<int8_t>("this_int_works1", 1);
this->declare_parameter<int16_t>("this_int_works2", 1);
this->declare_parameter<int32_t>("this_int_works3", 1);
this->declare_parameter<int64_t>("this_int_works4", 1);
this->declare_parameter<uint8_t>("this_uint_works1", 1);
this->declare_parameter<uint16_t>("this_uint_works1", 1);
this->declare_parameter<uint32_t>("this_uint_does_not_work1", 1);
this->declare_parameter<uint64_t>("this_uint_does_not_work2", 1);
}
};
int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<ParametersClass>());
rclcpp::shutdown();
return 0;
}cmake_minimum_required(VERSION 3.8)
project(cpp_parameters)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
add_executable(parameter_node src/cpp_parameters_node.cpp)
ament_target_dependencies(parameter_node rclcpp)
install(TARGETS
parameter_node
DESTINATION lib/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()Expected behavior
I'd expect that all of the above version of declare_parameter would work.
Actual behavior
All versions except the ones for uint32_t and uint64_t are working. It says call of overloaded ‘ParameterValue(const unsigned int&)’ is ambiguous:
In file included from /opt/ros/galactic/include/rclcpp/node.hpp:1315,
from /opt/ros/galactic/include/rclcpp/executors/single_threaded_executor.hpp:28,
from /opt/ros/galactic/include/rclcpp/executors.hpp:22,
from /opt/ros/galactic/include/rclcpp/rclcpp.hpp:156,
from /<path>/param_test/cpp_parameters/src/cpp_parameters_node.cpp:1:
/opt/ros/galactic/include/rclcpp/node_impl.hpp: In instantiation of ‘auto rclcpp::Node::declare_parameter(const string&, const ParameterT&, const ParameterDescriptor&, bool) [with ParameterT = unsigned int; std::string = std::__cxx11::basic_string<char>; rcl_interfaces::msg::ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> >]’:
/<path>/param_test/cpp_parameters/src/cpp_parameters_node.cpp:21:70: required from here
/opt/ros/galactic/include/rclcpp/node_impl.hpp:205:15: error: call of overloaded ‘ParameterValue(const unsigned int&)’ is ambiguous
205 | rclcpp::ParameterValue(default_value),
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/galactic/include/rclcpp/parameter.hpp:26,
from /opt/ros/galactic/include/rclcpp/node_interfaces/node_parameters_interface.hpp:28,
from /opt/ros/galactic/include/rclcpp/node.hpp:54,
from /opt/ros/galactic/include/rclcpp/executors/single_threaded_executor.hpp:28,
from /opt/ros/galactic/include/rclcpp/executors.hpp:22,
from /opt/ros/galactic/include/rclcpp/rclcpp.hpp:156,
from /<path>/param_test/cpp_parameters/src/cpp_parameters_node.cpp:1:
/opt/ros/galactic/include/rclcpp/parameter_value.hpp:94:12: note: candidate: ‘rclcpp::ParameterValue::ParameterValue(double)’
94 | explicit ParameterValue(const double double_value);
| ^~~~~~~~~~~~~~
/opt/ros/galactic/include/rclcpp/parameter_value.hpp:91:12: note: candidate: ‘rclcpp::ParameterValue::ParameterValue(float)’
91 | explicit ParameterValue(const float double_value);
| ^~~~~~~~~~~~~~
/opt/ros/galactic/include/rclcpp/parameter_value.hpp:88:12: note: candidate: ‘rclcpp::ParameterValue::ParameterValue(int64_t)’
88 | explicit ParameterValue(const int64_t int_value);
| ^~~~~~~~~~~~~~
/opt/ros/galactic/include/rclcpp/parameter_value.hpp:85:12: note: candidate: ‘rclcpp::ParameterValue::ParameterValue(int)’
85 | explicit ParameterValue(const int int_value);
| ^~~~~~~~~~~~~~
/opt/ros/galactic/include/rclcpp/parameter_value.hpp:82:12: note: candidate: ‘rclcpp::ParameterValue::ParameterValue(bool)’
82 | explicit ParameterValue(const bool bool_value);
| ^~~~~~~~~~~~~~
/opt/ros/galactic/include/rclcpp/parameter_value.hpp:71:7: note: candidate: ‘rclcpp::ParameterValue::ParameterValue(const rclcpp::ParameterValue&)’
71 | class ParameterValue
| ^~~~~~~~~~~~~~
/opt/ros/galactic/include/rclcpp/parameter_value.hpp:71:7: note: candidate: ‘rclcpp::ParameterValue::ParameterValue(rclcpp::ParameterValue&&)’
Additional information
The same occurs with a rclcpp_lifecycle::LifecycleNode.
It might be useful to test all template variants through the unit tests. It seems only std::string and int is tested.