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Fix start_type_description_service param handling (backport #2897)#2908

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fujitatomoya merged 1 commit intokiltedfrom
mergify/bp/kilted/pr-2897
Jul 17, 2025
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Fix start_type_description_service param handling (backport #2897)#2908
fujitatomoya merged 1 commit intokiltedfrom
mergify/bp/kilted/pr-2897

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@mergify mergify bot commented Jul 16, 2025

Closes #2892 by using the same exact strategy for declaring use_sim_time.

rclcpp/rclcpp/src/rclcpp/time_source.cpp

Lines 254 to 274 in 7ebc9e4

rclcpp::ParameterValue use_sim_time_param;
const std::string use_sim_time_name = "use_sim_time";
if (!node_parameters_->has_parameter(use_sim_time_name)) {
use_sim_time_param = node_parameters_->declare_parameter(
use_sim_time_name,
rclcpp::ParameterValue(false));
} else {
use_sim_time_param = node_parameters_->get_parameter(use_sim_time_name).get_parameter_value();
}
if (use_sim_time_param.get_type() == rclcpp::PARAMETER_BOOL) {
if (use_sim_time_param.get<bool>()) {
parameter_state_ = SET_TRUE;
clocks_state_.enable_ros_time();
create_clock_sub();
}
} else {
RCLCPP_ERROR(
logger_, "Invalid type '%s' for parameter 'use_sim_time', should be 'bool'",
rclcpp::to_string(use_sim_time_param.get_type()).c_str());
throw std::invalid_argument("Invalid type for parameter 'use_sim_time', should be 'bool'");
}

Tested (you can try to define start_type_description_service like so, and pass it to Nav2 bt_navigator or diagnostic_aggregator):

/**:
  ros__parameters:
    use_sim_time: false
    start_type_description_service: false

whithout the patch, it crashes like ros/diagnostics#519.

  • Add test

Did you use Generative AI?

No

This is an automatic backport of pull request #2897 done by Mergify.

@roncapat @mergify
Fix start_type_description_service param handling (#2897)
64bc970 
* Fix `start_type_description_service` param handling

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>

* Add test

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>

* Demonstrate different exceptions depending on node options

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>

* Same exact exception and `what()` message in both cases

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>

* Uncrustify

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>

---------

Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
(cherry picked from commit 4fb558a)
@mergify mergify bot mentioned this pull request Jul 16, 2025
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fujitatomoya commented Jul 16, 2025 •
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Pulls: #2908
Gist: https://gist.githubusercontent.com/fujitatomoya/8d1063d36d9ce23d536b97145550c4e6/raw/d13db0b14f13a62cadbc40f7ae398f8e8a1919ba/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: kilted
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16508

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@fujitatomoya fujitatomoya merged commit a709d81 into kilted Jul 17, 2025
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@fujitatomoya @roncapat