Cannot set parameter through SetParameters

[fbenti]

I have a node that is launched with some parameters which are considered global, hence, every node can access it through a service call with the default services get_parameters and set_parameters. While I can successfully read the parameters, I'm not able to SET them, i.e. to change their values.

Here the code for the node which is in charge of setting the parameter.

import rclpy
from rclpy.node import Node
from rcl_interfaces.srv import GetParameters, SetParameters
from rcl_interfaces.msg import ParameterDescriptor
from rclpy.node import Node
from rcl_interfaces.msg import Parameter
from std_msgs.msg import String


class MinimalSubscriber(Node):

    def __init__(self):
        super().__init__('minimal_subscriber',
                         allow_undeclared_parameters=False, 
                         automatically_declare_parameters_from_overrides=False,
                         )
        # self.publisher_ = self.create_publisher(String, 'topic', 10)
        timer_period = 1  # seconds
        self.timer = self.create_timer(timer_period, self.on_timer)
        self.i = 0

      
        self.set_param_client = self.create_client(SetParameters,
                                         '/global_parameter_server/set_parameters')
        self.set_param_service_ready = False        
        self.param_received = False

    def on_timer(self):
        if self.set_param_service_ready:
            if self.param_received:
                # self.get_logger().info('Param received')
                pass
            else:
                if self.result.done():
                    self.get_logger().info(
                        f'{self.result.result()}')
                    self.param_received = True
                else:
                    self.get_logger().info('Request non finished')
        else:
            if self.set_param_client.service_is_ready():

                request = SetParameters.Request()
                param = Parameter()
                param.name = 'zr30_yolo_detection_flag'

                request.parameters = [param]
                # Call request
                self.result = self.set_param_client.call_async(request)
                self.set_param_service_ready = True
            else:
                # Check if the service is ready
                self.get_logger().info('Service is not ready')


def main(args=None):
    rclpy.init(args=args)

    minimal_publisher = MinimalSubscriber()

    rclpy.spin(minimal_publisher)

    # Destroy the node explicitly
    # (optional - otherwise it will be done automatically
    # when the garbage collector destroys the node object)
    minimal_publisher.destroy_node()
    rclpy.shutdown()


if __name__ == '__main__':
    main()

The service call is completed, however, it is never successfull since it always gives this reason 'Static parameter cannot be undeclared

[INFO] [launch]: All log files can be found below /home/aut/.ros/log/2023-09-22-12-47-20-725281-aut-7996
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [global_parameter_server-1]: process started with pid [7997]
[INFO] [minimal_subscriber-2]: process started with pid [7999]
[global_parameter_server-1] [INFO] [1695379641.193061411] [global_parameter_server]: GlobalParameterServer started
[global_parameter_server-1] [INFO] [1695379641.194204782] [global_parameter_server]: False
[minimal_subscriber-2] [INFO] [1695379643.236667722] [minimal_subscriber]: rcl_interfaces.srv.SetParameters_Response(results=[rcl_interfaces.msg.SetParametersResult(successful=False, reason='Static parameter cannot be undeclared')])

[fujitatomoya]

                request = SetParameters.Request()
                param = Parameter()
                param.name = 'zr30_yolo_detection_flag'

value is not set to service call, that will try to set Parameter.Type.NOT_SET. and this is supposed to fail because type is unknow for static typed parameter to set. this is expected behavior.

i think if you set the compatible typed vale in the above request, it should pass.