* Fix when to throw the NoParameterOverrideProvided exception.

* Throw an exception when declaring a parameter of a specific type and passing a descriptor with dynamic typing enabled.

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Author: ivanpauno

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -440,6 +440,14 @@ declare_parameter_helper(
     parameter_descriptor.type = static_cast<uint8_t>(type);
   }
 
+  if (
+    rclcpp::PARAMETER_NOT_SET == default_value.get_type() &&
+    overrides.find(name) == overrides.end() &&
+    parameter_descriptor.dynamic_typing == false)
+  {
+    throw rclcpp::exceptions::NoParameterOverrideProvided(name);
+  }
+
   rcl_interfaces::msg::ParameterEvent parameter_event;
   auto result = __declare_parameter_common(
     name,
@@ -461,9 +469,6 @@ declare_parameter_helper(
     {
       // TODO(ivanpauno): Refactor the logic so we don't need the above `strncmp` and we can
       // detect between both exceptions more elegantly.
-      if (rclcpp::PARAMETER_NOT_SET == default_value.get_type()) {
-        throw rclcpp::exceptions::NoParameterOverrideProvided(name);
-      }
       throw rclcpp::exceptions::InvalidParameterTypeException(name, result.reason);
     }
     throw rclcpp::exceptions::InvalidParameterValueException(
@@ -528,6 +533,12 @@ NodeParameters::declare_parameter(
             "declare_parameter(): the provided parameter type cannot be rclcpp::PARAMETER_NOT_SET"};
   }
 
+  if (parameter_descriptor.dynamic_typing == true) {
+    throw std::invalid_argument{
+            "declare_parameter(): cannot declare parameter of specific type and pass descriptor"
+            "with `dynamic_typing=true`"};
+  }
+
   return declare_parameter_helper(
     name,
     type,

rclcpp/test/rclcpp/test_node.cpp

@@ -620,6 +620,22 @@ TEST_F(TestNode, declare_parameter_with_overrides) {
       {node->declare_parameter("parameter_type_mismatch", 42);},
       rclcpp::exceptions::InvalidParameterTypeException);
   }
+  {
+    // default type and expected type do not match
+    EXPECT_THROW(
+      {node->declare_parameter(
+          "parameter_type_mismatch", rclcpp::ParameterType::PARAMETER_INTEGER);},
+      rclcpp::exceptions::InvalidParameterTypeException);
+  }
+  {
+    // cannot pass an expected type and a descriptor with dynamic_typing=True
+    rcl_interfaces::msg::ParameterDescriptor descriptor{};
+    descriptor.dynamic_typing = true;
+    EXPECT_THROW(
+      {node->declare_parameter(
+          "invalid_argument", rclcpp::ParameterType::PARAMETER_INTEGER, descriptor);},
+      std::invalid_argument);
+  }
 }
 
 TEST_F(TestNode, declare_parameters_with_no_initial_values) {