From 70979f10b674b2c1dc9fcd9e9f0169b7f5fa25e2 Mon Sep 17 00:00:00 2001
From: aiqubits <aiqubits@hotmail.com>
Date: Mon, 31 Aug 2026 22:15:47 +0800
Subject: [PATCH] Fix getting vector<int> parameters

Signed-off-by: aiqubits <aiqubits@hotmail.com>
---
 rclcpp/include/rclcpp/parameter_value.hpp |  5 +++--
 rclcpp/test/rclcpp/test_node.cpp          | 13 +++++++++++++
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/rclcpp/include/rclcpp/parameter_value.hpp b/rclcpp/include/rclcpp/parameter_value.hpp
index 980e562984..b7c72fb702 100644
--- a/rclcpp/include/rclcpp/parameter_value.hpp
+++ b/rclcpp/include/rclcpp/parameter_value.hpp
@@ -305,10 +305,11 @@ class ParameterValue
   constexpr
   typename std::enable_if<
     std::is_convertible<
-      type, const std::vector<int> &>::value, const std::vector<int64_t> &>::type
+      type, const std::vector<int> &>::value, std::vector<int>>::type
   get() const
   {
-    return get<ParameterType::PARAMETER_INTEGER_ARRAY>();
+    const auto & value = get<ParameterType::PARAMETER_INTEGER_ARRAY>();
+    return std::vector<int>(value.begin(), value.end());
   }
 
   template<typename type>
diff --git a/rclcpp/test/rclcpp/test_node.cpp b/rclcpp/test/rclcpp/test_node.cpp
index cf9f6c6b02..3bf80e2af1 100644
--- a/rclcpp/test/rclcpp/test_node.cpp
+++ b/rclcpp/test/rclcpp/test_node.cpp
@@ -2726,6 +2726,19 @@ TEST_F(TestNode, get_parameter_undeclared_parameters_not_allowed) {
   }
 }
 
+TEST_F(TestNode, get_parameter_with_vector_int) {
+  auto node = std::make_shared<rclcpp::Node>("test_get_parameter_node"_unq);
+  auto name = "parameter"_unq;
+  const std::vector<int> expected_value = {
+    42, -99, std::numeric_limits<int>::max(), std::numeric_limits<int>::lowest(), 0};
+
+  node->declare_parameter(name, expected_value);
+
+  std::vector<int> value;
+  EXPECT_TRUE(node->get_parameter(name, value));
+  EXPECT_EQ(expected_value, value);
+}
+
 // test get_parameter with undeclared allowed
 TEST_F(TestNode, get_parameter_undeclared_parameters_allowed) {
   auto node = std::make_shared<rclcpp::Node>(