diff --git a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
index 922ce9e4d1..6dc5090a1f 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
@@ -201,12 +201,10 @@ __check_parameter_value_in_range(
   rcl_interfaces::msg::SetParametersResult result;
   result.successful = true;
   if (!descriptor.integer_range.empty() && value.get_type() == rclcpp::PARAMETER_INTEGER) {
-    int64_t v = value.get<int64_t>();
-    auto integer_range = descriptor.integer_range.at(0);
-    if (v == integer_range.from_value || v == integer_range.to_value) {
-      return result;
-    }
-    if ((v < integer_range.from_value) || (v > integer_range.to_value)) {
+    const int64_t v = value.get<int64_t>();
+    const auto& integer_range = descriptor.integer_range.at(0);
+    const bool within_range = (v >= integer_range.from_value) && (v <= integer_range.to_value);
+    if (!within_range) {
       result.successful = false;
       result.reason = format_range_reason(descriptor.name, "integer");
       return result;
@@ -223,12 +221,10 @@ __check_parameter_value_in_range(
   }
 
   if (!descriptor.floating_point_range.empty() && value.get_type() == rclcpp::PARAMETER_DOUBLE) {
-    double v = value.get<double>();
-    auto fp_range = descriptor.floating_point_range.at(0);
-    if (__are_doubles_equal(v, fp_range.from_value) || __are_doubles_equal(v, fp_range.to_value)) {
-      return result;
-    }
-    if ((v < fp_range.from_value) || (v > fp_range.to_value)) {
+    const double v = value.get<double>();
+    const auto& fp_range = descriptor.floating_point_range.at(0);
+    const bool within_range = (v >= fp_range.from_value) && (v <= fp_range.to_value);
+    if (!within_range) {
       result.successful = false;
       result.reason = format_range_reason(descriptor.name, "floating point");
       return result;
@@ -236,7 +232,7 @@ __check_parameter_value_in_range(
     if (fp_range.step == 0.0) {
       return result;
     }
-    double rounded_div = std::round((v - fp_range.from_value) / fp_range.step);
+    const double rounded_div = std::round((v - fp_range.from_value) / fp_range.step);
     if (__are_doubles_equal(v, fp_range.from_value + rounded_div * fp_range.step)) {
       return result;
     }
diff --git a/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp b/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp
index 2826a80d7a..365c451e92 100644
--- a/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp
+++ b/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp
@@ -200,6 +200,69 @@ TEST_F(TestNodeParameters, set_parameters) {
   EXPECT_TRUE(result[0].successful);
 }
 
+TEST_F(TestNodeParameters, double_parameter_range)
+{
+  rclcpp::NodeOptions node_options;
+  node_options.allow_undeclared_parameters(true);
+
+  rcl_interfaces::msg::ParameterDescriptor double_descriptor;
+  double_descriptor.name = "double_parameter";
+  double_descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+  double_descriptor.read_only = false;
+
+  rcl_interfaces::msg::FloatingPointRange range;
+  range.from_value = -1.0;
+  range.to_value = 666.0;
+  double_descriptor.floating_point_range.push_back(range);
+
+  const auto default_value = rclcpp::ParameterValue(0.0);
+
+  const auto loaded_value = node->declare_parameter(
+        double_descriptor.name,
+        default_value,
+        double_descriptor
+      );
+  EXPECT_EQ(loaded_value, default_value);
+
+  {
+    const rclcpp::Parameter new_parameter = rclcpp::Parameter(
+          "double_parameter",
+          std::numeric_limits<double>::infinity()
+        );
+    const auto result = node->set_parameter(new_parameter);
+    EXPECT_FALSE(result.successful);
+    EXPECT_EQ(
+          "Parameter {double_parameter} doesn't comply with floating point range.",
+          result.reason
+        );
+  }
+
+  {
+    const rclcpp::Parameter new_parameter = rclcpp::Parameter(
+          "double_parameter",
+          std::numeric_limits<double>::quiet_NaN()
+        );
+    const auto result = node->set_parameter(new_parameter);
+    EXPECT_FALSE(result.successful);
+    EXPECT_EQ(
+          "Parameter {double_parameter} doesn't comply with floating point range.",
+          result.reason
+        );
+  }
+
+  {
+    const rclcpp::Parameter new_parameter = rclcpp::Parameter("double_parameter", range.to_value);
+    const auto result = node->set_parameter(new_parameter);
+    EXPECT_TRUE(result.successful);
+  }
+
+  {
+    const rclcpp::Parameter new_parameter = rclcpp::Parameter("double_parameter", range.from_value);
+    const auto result = node->set_parameter(new_parameter);
+    EXPECT_TRUE(result.successful);
+  }
+}
+
 TEST_F(TestNodeParameters, add_remove_on_set_parameters_callback) {
   rcl_interfaces::msg::ParameterDescriptor bool_descriptor;
   bool_descriptor.name = "bool_parameter";