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make _on_parameter_event return result correctly #817

Merged
merged 3 commits into from
Jul 18, 2022
Merged

make _on_parameter_event return result correctly #817

merged 3 commits into from
Jul 18, 2022

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squizz617
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Previously, _on_parameter_event always returned successful=True to the
caller (e.g., ros2param set) regardless of whether setting use_sim_time
parameter actually succeeded or not.

  • PoC:
# terminal 1
$ ros2 run examples_rclpy_minimal_publisher publisher_member_function

[INFO] [1629490410.452032755] [minimal_publisher]: Publishing: "Hello World: 0"
[INFO] [1629490410.918999697] [minimal_publisher]: Publishing: "Hello World: 1"
[INFO] [1629490411.419087028] [minimal_publisher]: Publishing: "Hello World: 2"
[INFO] [1629490411.919343319] [minimal_publisher]: Publishing: "Hello World: 3"
[INFO] [1629490412.419345165] [minimal_publisher]: Publishing: "Hello World: 4"
[INFO] [1629490412.919260702] [minimal_publisher]: Publishing: "Hello World: 5"
[ERROR] [1629490413.030775970] [minimal_publisher]: use_sim_time parameter set to something besides a bool
[INFO] [1629490413.419389164] [minimal_publisher]: Publishing: "Hello World: 6"
[INFO] [1629490413.919106545] [minimal_publisher]: Publishing: "Hello World: 7"
# terminal 2
$ ros2 param set /minimal_publisher use_sim_time Trueeeee

Set parameter successful

As demonstrated above, when trying to set use_sim_time param to an invalid
type, the minimal_publisher node complains it cannot. However, ros2 param
prints "Set parameter successful". This commit fixes this issue.

@fujitatomoya
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Just FYI, the following is the current behavior.

root@12956542b338:~/ros2_ws/colcon_ws# ros2 run examples_rclpy_minimal_publisher publisher_member_function
[INFO] [1629693600.867826272] [minimal_publisher]: Publishing: "Hello World: 0"
[INFO] [1629693601.359118866] [minimal_publisher]: Publishing: "Hello World: 1"
[INFO] [1629693601.859174180] [minimal_publisher]: Publishing: "Hello World: 2"
[INFO] [1629693602.359177531] [minimal_publisher]: Publishing: "Hello World: 3"
...<snip>

root@12956542b338:~/ros2_ws/colcon_ws# ros2 param set /minimal_publisher use_sim_time Trueeeee
Setting parameter failed: Wrong parameter type, parameter {use_sim_time} is of type {bool}, setting it to {string} is not allowed.

type mismatch can be detected before _parameters_callbacks is called.

fujitatomoya
fujitatomoya approved these changes Aug 23, 2021
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lgtm

@fujitatomoya
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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

@fujitatomoya
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as mentioned in #817 (comment), currently with master, it will check the parameter type via _apply_descriptor before calling on_set_parameters_callback. So it actually cannot reach the code which this PR tries to fix.

But i think this PR makes sense.

@fujitatomoya
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@squizz617 could you address flake8 errors?

@squizz617
make _on_parameter_event return result correctly
cc11b45 
Previously, `_on_parameter_event` always returned `successful=True` to the
caller (e.g., ros2param set) regardless of whether setting `use_sim_time`
parameter actually succeeded or not.

* PoC:
```sh
# terminal 1
$ ros2 run examples_rclpy_minimal_publisher publisher_member_function

[INFO] [1629490410.452032755] [minimal_publisher]: Publishing: "Hello World: 0"
[INFO] [1629490410.918999697] [minimal_publisher]: Publishing: "Hello World: 1"
[INFO] [1629490411.419087028] [minimal_publisher]: Publishing: "Hello World: 2"
[INFO] [1629490411.919343319] [minimal_publisher]: Publishing: "Hello World: 3"
[INFO] [1629490412.419345165] [minimal_publisher]: Publishing: "Hello World: 4"
[INFO] [1629490412.919260702] [minimal_publisher]: Publishing: "Hello World: 5"
[ERROR] [1629490413.030775970] [minimal_publisher]: use_sim_time parameter set to something besides a bool
[INFO] [1629490413.419389164] [minimal_publisher]: Publishing: "Hello World: 6"
[INFO] [1629490413.919106545] [minimal_publisher]: Publishing: "Hello World: 7"
```

```sh
# terminal 2
$ ros2 param set /minimal_publisher use_sim_time Trueeeee

Set parameter successful
```

As demonstrated above, when trying to set `use_sim_time` param to an invalid
type, the minimal_publisher node complains it cannot. However, ros2 param
prints "Set parameter successful". This commit fixes this issue.

Signed-off-by: Seulbae Kim <squizz617@gmail.com>
@squizz617
use single quote
8ac897f 
Signed-off-by: Seulbae Kim <squizz617@gmail.com>
@squizz617
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Fixed the flake8 error. Seems ready to be merged.

And the param type check in the master branch does make sense. Thanks!

@fujitatomoya
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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

@fujitatomoya
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@ivanpauno could you review on this just in case before merge.

ivanpauno
ivanpauno approved these changes Feb 9, 2022
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LGTM, it would be nice if tests are added before this gets merged

@fujitatomoya
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CI is failing because of https://ci.ros2.org/job/ci_linux/16070/console, we need to use https://github.com/ros2/ros2/blob/4a36f319afcc208deae3c373493ef6d9feda1324/ros2.repos#L45.

@fujitatomoya
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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

@ivanpauno
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@fujitatomoya friendly ping, what's the state of this?

@audrow audrow changed the base branch from master to rolling June 28, 2022 14:21
@sloretz
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sloretz commented Jul 18, 2022

CI (repos file build: --packages-up-to rclpy test: --packages-select rclpy)

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

@sloretz
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sloretz commented Jul 18, 2022

PR job is test_timer, which appears to be flaky and unrelated to this PR. CI LGTM

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sloretz commented Jul 18, 2022

Thank you for the PR!

@sloretz sloretz merged commit c4cf7a0 into ros2:rolling Jul 18, 2022
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@squizz617 @fujitatomoya @ivanpauno @sloretz