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Fixed range checking for floating-type parameters #2904

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Fixed range checking for floating-type parameters #2904

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920d89f
fixed range checking for floating-type parameters
matemat13 Jul 14, 2025
cebf29f
minor fix in integer parameter range checking
matemat13 Jul 14, 2025
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22 changes: 9 additions & 13 deletions rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -223,20 +221,18 @@ __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);
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This removed the epsilon, shouldn't it be

Suggested change
const bool within_range = (v >= fp_range.from_value) && (v <= fp_range.to_value);
const bool within_range = (v >= fp_range.from_value - std::numeric_limits<double>::epsilon() ) && (v <= fp_range.to_value + + std::numeric_limits<double>::epsilon() );

Also, if the __are_doubles_equal function is obviously broken, why was it not removed ?

if (!within_range) {
result.successful = false;
result.reason = format_range_reason(descriptor.name, "floating point");
return result;
}
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;
}
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63 changes: 63 additions & 0 deletions rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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()
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include <limits>

);
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";
Expand Down