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Don't let malformed set_parameters requests crash the node #3256

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Don't let malformed set_parameters requests crash the node #3256

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22 changes: 14 additions & 8 deletions rclcpp/src/rclcpp/parameter_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#include "rclcpp/parameter_service.hpp"

#include <algorithm>
#include <exception>
#include <memory>
#include <string>
#include <vector>
Expand Down Expand Up @@ -90,7 +91,7 @@ ParameterService::ParameterService(
try {
result = node_params->set_parameters_atomically(
{rclcpp::Parameter::from_parameter_msg(p)});
} catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {

@fujitatomoya fujitatomoya Sep 5, 2026

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i think we should kee this specific exception to distinguish from the following generic exception.

} catch (const std::exception & ex) {

@skyegalaxy skyegalaxy Sep 4, 2026

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nit: could scope this to just a handful of relevant exceptions

@baszalmstra baszalmstra Sep 4, 2026

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but then as soon as a new exception is added you can introduce the same crash. What does scoping add here?

@impala454 impala454 Sep 4, 2026

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See comment here #3257 (comment)

@jmachowinski jmachowinski Sep 4, 2026

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Catchalls are considered back practice as you might also catch exceptions that were not meant to be catched.
You can also give better error messages depending on the type of exception you are catching...

@baszalmstra baszalmstra Sep 4, 2026

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Given that backporting is desirable, what is the best type to use in this case? std::runtime_error?

@impala454 impala454 Sep 4, 2026

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Catchalls are considered back practice as you might also catch exceptions that were not meant to be catched. You can also give better error messages depending on the type of exception you are catching...

Totally agreed but arguably completely missed exceptions also bad practice. I think catching broadly here fixes the current issue but to properly fix this with best practices, all throws in this repo should be re-evalued to be sure no generic exceptions are being thrown. Obviously this was already started from humble > rolling with that TODO I linked fixed, just this would be another case. I suppose the backport to humble for this exact issue could include fixing that generic throw. I will leave it to the folks implementing but that's my $0.02.

RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to set parameter: %s", ex.what());
result.successful = false;
result.reason = ex.what();
Expand All @@ -108,21 +109,26 @@ ParameterService::ParameterService(
const std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Request> & request,
std::shared_ptr<rcl_interfaces::srv::SetParametersAtomically::Response> response)
{
std::vector<rclcpp::Parameter> pvariants;
std::transform(
request->parameters.cbegin(), request->parameters.cend(),
std::back_inserter(pvariants),
[](const rcl_interfaces::msg::Parameter & p) {
return rclcpp::Parameter::from_parameter_msg(p);
});
try {
std::vector<rclcpp::Parameter> pvariants;
std::transform(
request->parameters.cbegin(), request->parameters.cend(),
std::back_inserter(pvariants),
[](const rcl_interfaces::msg::Parameter & p) {
return rclcpp::Parameter::from_parameter_msg(p);
});
auto result = node_params->set_parameters_atomically(pvariants);
response->result = result;
} catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"), "Failed to set parameters atomically: %s", ex.what());
response->result.successful = false;
response->result.reason = "One or more parameters were not declared before setting";
} catch (const std::exception & ex) {
RCLCPP_WARN(
rclcpp::get_logger("rclcpp"), "Failed to set parameters atomically: %s", ex.what());
response->result.successful = false;
response->result.reason = ex.what();
}
},
qos_profile, nullptr);
Expand Down
62 changes: 62 additions & 0 deletions rclcpp/test/rclcpp/test_parameter_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,10 @@
#include <utility>
#include <vector>

#include "rcl_interfaces/msg/parameter.hpp"
#include "rcl_interfaces/srv/set_parameters.hpp"
#include "rcl_interfaces/srv/set_parameters_atomically.hpp"

#include "../../src/rclcpp/parameter_service_names.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/parameter.hpp"
Expand Down Expand Up @@ -98,6 +102,64 @@ TEST_F(TestParameterService, set_parameters_atomically) {
EXPECT_EQ(0, client->get_parameter("parameter1", 100));
}

// Regression: an empty name must fail the request, not crash the node.
TEST_F(TestParameterService, set_parameters_empty_name_returns_failure) {
const std::vector<rclcpp::Parameter> parameters = {
rclcpp::Parameter("", 0),
};
const auto results = client->set_parameters(parameters, 10s);
ASSERT_EQ(1u, results.size());
EXPECT_FALSE(results[0].successful);
}

TEST_F(TestParameterService, set_parameters_atomically_empty_name_returns_failure) {
const std::vector<rclcpp::Parameter> parameters = {
rclcpp::Parameter("", 0),
};
const auto result = client->set_parameters_atomically(parameters, 10s);
EXPECT_FALSE(result.successful);
}

// Unknown value type; the typed clients can't build one, so use a raw client.
TEST_F(TestParameterService, set_parameters_unknown_type_returns_failure) {
auto raw_client = node->create_client<rcl_interfaces::srv::SetParameters>(
std::string(node->get_name()) + "/" + rclcpp::parameter_service_names::set_parameters);
ASSERT_TRUE(raw_client->wait_for_service(10s));

auto request = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
rcl_interfaces::msg::Parameter parameter;
parameter.name = "parameter1";
parameter.value.type = 42; // not a valid rclcpp::ParameterType
request->parameters.push_back(parameter);

auto future = raw_client->async_send_request(request);
ASSERT_EQ(
rclcpp::spin_until_future_complete(node, future, 10s),
rclcpp::FutureReturnCode::SUCCESS);
const auto response = future.get();
ASSERT_EQ(1u, response->results.size());
EXPECT_FALSE(response->results[0].successful);
}

TEST_F(TestParameterService, set_parameters_atomically_unknown_type_returns_failure) {
auto raw_client = node->create_client<rcl_interfaces::srv::SetParametersAtomically>(
std::string(node->get_name()) + "/" + rclcpp::parameter_service_names::set_parameters_atomically);
ASSERT_TRUE(raw_client->wait_for_service(10s));

auto request = std::make_shared<rcl_interfaces::srv::SetParametersAtomically::Request>();
rcl_interfaces::msg::Parameter parameter;
parameter.name = "parameter1";
parameter.value.type = 42; // not a valid rclcpp::ParameterType
request->parameters.push_back(parameter);

auto future = raw_client->async_send_request(request);
ASSERT_EQ(
rclcpp::spin_until_future_complete(node, future, 10s),
rclcpp::FutureReturnCode::SUCCESS);
const auto response = future.get();
EXPECT_FALSE(response->result.successful);
}

TEST_F(TestParameterService, list_parameters) {
const size_t number_parameters_in_basic_node = client->list_parameters({}, 1, 10s).names.size();
node->declare_parameter("parameter1", rclcpp::ParameterValue(42));
Expand Down