Only representable values should be possible to set as parameters

[tylerjw]

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04
• Installation type:
  • binaries
• Version or commit hash:
  • humble
• DDS implementation:
  • default

Steps to reproduce the issue

I reproduced this using the tutorials for moveit2 on Humble.
I found this issue, but I'm unsure if it is related: ros2/rosidl#351

Traceback (most recent call last):
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rcl_interfaces/msg/_parameter_value.py", line 225, in double_value
    assert value >= -1.7976931348623157e+308 and value <= 1.7976931348623157e+308, \
AssertionError: The 'double_value' field must be a double in [-1.7976931348623157e+308, 1.7976931348623157e+308]

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/opt/ros/humble/bin/ros2", line 33, in <module>
    sys.exit(load_entry_point('ros2cli==0.18.3', 'console_scripts', 'ros2')())
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2cli/cli.py", line 89, in main
    rc = extension.main(parser=parser, args=args)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/command/param.py", line 39, in main
    return extension.main(args=args)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/verb/dump.py", line 118, in main
    pval = self.get_parameter_value(node, absolute_node_name, param_name)
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/verb/dump.py", line 61, in get_parameter_value
    response = call_get_parameters(
  File "/opt/ros/humble/lib/python3.10/site-packages/ros2param/api/__init__.py", line 195, in call_get_parameters
    rclpy.spin_until_future_complete(node, future)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 248, in spin_until_future_complete
    executor.spin_until_future_complete(future, timeout_sec)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 288, in spin_until_future_complete
    self.spin_once_until_future_complete(future, timeout_sec)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 715, in spin_once_until_future_complete
    self.spin_once(timeout_sec)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 712, in spin_once
    raise handler.exception()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__
    self._handler.send(None)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 411, in handler
    arg = take_from_wait_list(entity)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 347, in _take_client
    return client.handle.take_response(client.srv_type.Response)
SystemError: <built-in method take_response of PyCapsule object at 0x7f69169317a0> returned a result with an exception set

Expected behavior

Only representable values should be possible to set as parameters. If it is possible to set a value for a parameter, it should be possible to read that value.

Actual behavior

Crash when trying to read parameters

[clalancette]

Only representable values should be possible to set as parameters.

Theoretically, this should already be the case. We have checks in place exactly for this reason. For instance:

Terminal 1:

$ ros2 run turtlesim turtlesim_node

Terminal 2:

$ ros2 param set /turtlesim background_b 3.4
Setting parameter failed: Wrong parameter type, parameter {background_b} is of type {integer}, setting it to {double} is not allowed.

Can you give more details on how to reproduce the error?

[tylerjw]

I was not able to figure out which parameter this is coming from because my normal way of reading parameters (to search for where it is coming from) is broken by this. However I was able to write this simple program that builds and runs on Humble and produces the same result:

#include <cmath>
#include <rclcpp/rclcpp.hpp>

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  auto const node = std::make_shared<rclcpp::Node>(
    "invalid_param",
    rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)
  );
  node->declare_parameter("f", double{NAN});

  rclcpp::spin(node);
  rclcpp::shutdown();
  return 0;
}

Based on the error produced my theory is that something in MoveIt is setting one of the sentinal values of double as a default for some parameter.

[clalancette]

OK, I just confirmed that yes, this is the same problem as ros2/rosidl#351 . I also confirmed that this is not a problem on Rolling anymore. So I'm going to close this out as a dup.