enable parameter update recursively only when QoS override parameters.

Signed-off-by: Tomoya Fujita <[email protected]>

Author: fujitatomoya

rclcpp/include/rclcpp/detail/qos_parameters.hpp

@@ -97,6 +97,9 @@ declare_parameter_or_get(
   rcl_interfaces::msg::ParameterDescriptor descriptor)
 {
   try {
+    // enable parameter modification just once to make it possible
+    // to declare QoS override parameters.
+    parameters_interface.enable_parameter_modification();
     return parameters_interface.declare_parameter(
       param_name, param_value, descriptor);
   } catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -214,6 +214,10 @@ class NodeParameters : public NodeParametersInterface
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const override;
 
+  RCLCPP_PUBLIC
+  void
+  enable_parameter_modification() override;
+
   using PreSetCallbacksHandleContainer = std::list<PreSetParametersCallbackHandle::WeakPtr>;
   using OnSetCallbacksHandleContainer = std::list<OnSetParametersCallbackHandle::WeakPtr>;
   using PostSetCallbacksHandleContainer = std::list<PostSetParametersCallbackHandle::WeakPtr>;

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -270,6 +270,12 @@ class NodeParametersInterface
   virtual
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const = 0;
+
+  /// Enable parameter modification recursively just once.
+  RCLCPP_PUBLIC
+  virtual
+  void
+  enable_parameter_modification() = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -1191,3 +1191,9 @@ NodeParameters::get_parameter_overrides() const
 {
   return parameter_overrides_;
 }
+
+void
+NodeParameters::enable_parameter_modification()
+{
+  parameter_modification_enabled_ = true;
+}