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ros-visualization / rqt_reconfigure

http://wiki.ros.org/rqt_reconfigure
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Parameter list missing in reconfigure/dynamic if any parameter was declared without a default value under ROS2 #142

Open EwingKang opened 8 months ago

EwingKang commented 8 months ago

System: Ubuntu 22.04 Version: ROS 2 Iron Irwini - Patch Release 4

Following the parameter tutorial on the ROS2 docs, I can see the following result in rqt/ rqt_reconfigure image

However, if I add a parameter without default value using the type-specifying version of the declare_parameter() API, the entire parameter list for the node will disappear without any error message:

this->declare_parameter("an_int_param", 0); // The original demo
this->declare_parameter("an_int_param_without_val", rclcpp::PARAMETER_INTEGER);  // THIS CAUSE PROBLEMS

image

This problem disappears if that specific parameter is supplied with the command line:

ros2 run cpp_parameter_event_handler parameter_event_handler --ros-args -p an_int_param_without_val:=22

image

I should add that all other ros2 param and ros2 service command line tools are fine as far as I've tested. This behavior is not mentioned anywhere in the documentation and I also couldn't find any similar problems on the internet. It took me a few hours of trial-and-error to figure-out the pattern.

EwingKang commented 2 months ago

This is related to https://github.com/ros2/rclcpp/issues/2512