'ros2 param load' fails when double parameter in parameter file is in…

… scientific notation

  ros2/ros2cli#834

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

prover_rclcpp/CMakeLists.txt

@@ -113,6 +113,7 @@ custom_executable(ros2_1400)
 
 #custom_executable(ros2cli_601)
 custom_executable(ros2cli_679)
+custom_executable(ros2cli_834)
 
 custom_executable(sim_clock_publisher)
 custom_executable(intraprocess_pub_sub)

prover_rclcpp/src/ros2cli_834.cpp

@@ -0,0 +1,33 @@
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/string.hpp>
+
+int main(int argc, char *argv[]) {
+  rclcpp::init(argc, argv);
+
+  rclcpp::NodeOptions node_options = rclcpp::NodeOptions();
+  node_options.allow_undeclared_parameters(true);
+  node_options.automatically_declare_parameters_from_overrides(true);
+
+  auto node = rclcpp::Node::make_shared("param_test", node_options);
+  RCLCPP_INFO(node->get_logger(), "/param_test node created...");
+  // check if already declared
+  rclcpp::Parameter param;
+  if (node->has_parameter("test_double")) {
+    param = node->get_parameter("test_double");
+    RCLCPP_INFO(node->get_logger(), "test_double param is %f", param.get_value<double>());
+  } else {
+    // double type 0.0 initialized
+    node->declare_parameter("test_double", 0.0);
+  }
+  // set parameter type double
+  node->set_parameter(rclcpp::Parameter("test_double", 3e-06));
+  param = node->get_parameter("test_double");
+  RCLCPP_INFO(node->get_logger(), "test_double param is %f", param.get_value<double>());
+
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+  executor.spin();
+  rclcpp::shutdown();
+
+  return 0;
+}