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Fix retrieving std::vector<int> parameters #3245

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Fix retrieving std::vector<int> parameters #3245

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5 changes: 3 additions & 2 deletions rclcpp/include/rclcpp/parameter_value.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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13 changes: 13 additions & 0 deletions rclcpp/test/rclcpp/test_node.cpp
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Expand Up @@ -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>(
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