Fix `start_type_description_service` param handling (backport #2897) by mergify[bot] · Pull Request #2909 · ros2/rclcpp

mergify · 2025-07-16T22:49:22Z

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.

* 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)

fujitatomoya · 2025-07-16T22:55:01Z

Pulls: #2909
Gist: https://gist.githubusercontent.com/fujitatomoya/da08f6083dcc62564b8edd80a60aa9ff/raw/b82e7ce0ae942e1e5dde8cb2ea389a18de288671/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: jazzy
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16509

Linux
Linux-aarch64
Linux-rhel
Windows

…#2909) * Fix `start_type_description_service` param handling * Add test * Demonstrate different exceptions depending on node options * Same exact exception and `what()` message in both cases * Uncrustify --------- (cherry picked from commit 4fb558a) Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com>

* QoSInitialization::from_rmw does not validate invalid history policy values, leading to silent failures (ros2#2841) (ros2#2845) (cherry picked from commit 73e9bfb) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * get_all_data_impl() does not handle null pointers properly, causing segmentation fault (backport ros2#2840) (ros2#2851) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added missing chrono includes (ros2#2854) (ros2#2856) (cherry picked from commit 373a63c) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fix for memory leaks in rclcpp::SerializedMessage (ros2#2861) (ros2#2864) (cherry picked from commit 8d44b95) Signed-off-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: kylemarcey <marcey.kyle@gmail.com> * Replace std::default_random_engine with std::mt19937 (humble) (ros2#2847) (ros2#2867) (cherry picked from commit a0e2240) Signed-off-by: keeponoiro <keeeeeeep@gmail.com> Co-authored-by: keeponoiro <keeeeeeep@gmail.com> * Changelog Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * 28.1.10 * fix test_publisher_with_system_default_qos. (ros2#2881) (ros2#2883) (cherry picked from commit e6577c6) Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Shutdown deadlock fix jazzy (ros2#2887) * fix: Don't deadlock if removing shutdown callbacks in a shutdown callback Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> * refactor: Made fix API compatible Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> --------- Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> * Event exec timer fix for ros2#2889 (ros2#2890) Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Signed-off-by: Janosch Machowinski <jmachowinski@users.noreply.github.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Add overload of `append_parameter_override` (ros2#2891) (ros2#2895) (cherry picked from commit fa0cf2d) Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> * Fujitatomoya/test append parameter override (ros2#2896) (ros2#2900) (cherry picked from commit 84c6fb1) Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * [jazzy] Expose `typesupport_helpers` API needed for the Rosbag2 (backport ros2#2858) (ros2#2902) * Expose `typesupport_helpers` API needed for the Rosbag2 (ros2#2858) * Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use C++ style in doxygen documentation Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> (cherry picked from commit 448287b) # Conflicts: # rclcpp/include/rclcpp/typesupport_helpers.hpp * Address merge conflicts Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com> * Add qos parameter for wait_for_message function (ros2#2903) (ros2#2906) (cherry picked from commit 2fcef70) Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Sriharsha Ghanta <ghanta_sriharsha@mymail.sutd.edu.sg> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * Fix `start_type_description_service` param handling (ros2#2897) (ros2#2909) * Fix `start_type_description_service` param handling * Add test * Demonstrate different exceptions depending on node options * Same exact exception and `what()` message in both cases * Uncrustify --------- (cherry picked from commit 4fb558a) Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> --------- Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Signed-off-by: keeponoiro <keeeeeeep@gmail.com> Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Signed-off-by: Janosch Machowinski <jmachowinski@users.noreply.github.com> Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: kylemarcey <marcey.kyle@gmail.com> Co-authored-by: keeponoiro <keeeeeeep@gmail.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Janosch Machowinski <jmachowinski@users.noreply.github.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Sriharsha Ghanta <ghanta_sriharsha@mymail.sutd.edu.sg>

mergify bot mentioned this pull request Jul 16, 2025

Fix start_type_description_service param handling #2897

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fujitatomoya approved these changes Jul 16, 2025

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fujitatomoya merged commit ebdaf1f into jazzy Jul 17, 2025
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Fix `start_type_description_service` param handling (backport #2897)#2909

Fix `start_type_description_service` param handling (backport #2897)#2909
fujitatomoya merged 1 commit intojazzyfrom
mergify/bp/jazzy/pr-2897

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	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'");
	}

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