Fix incorrect comparsion on whether parameter type is NOT_SET (#1032) (#1283)

* Fix incorrect comparsion on whether parameter type is NOT_SET
* Add a test case to check fixing

Signed-off-by: Barry Xu <[email protected]>
Co-authored-by: Barry Xu <[email protected]>

Author: xueying4402

rclpy/rclpy/node.py

@@ -449,7 +449,7 @@ def declare_parameters(
                 descriptor.dynamic_typing = True
 
             if isinstance(second_arg, Parameter.Type):
-                if second_arg.value == Parameter.Type.NOT_SET:
+                if second_arg == Parameter.Type.NOT_SET:
                     raise ValueError(
                         f'Cannot declare parameter {{{name}}} as statically typed of type NOT_SET')
                 if descriptor.dynamic_typing is True:

rclpy/test/test_node.py

@@ -773,6 +773,11 @@ def test_declare_parameters(self):
                 )]
             )
 
+        # Declare a parameter with parameter type 'Not Set'
+        with self.assertRaises(ValueError):
+            self.node.declare_parameter(
+                'wrong_parameter_value_type_not_set', Parameter.Type.NOT_SET)
+
     def reject_parameter_callback(self, parameter_list):
         rejected_parameters = (param for param in parameter_list if 'reject' in param.name)
         return SetParametersResult(successful=(not any(rejected_parameters)))