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fix ParameterAlreadyDeclaredException in _on_heartbeat_timeout #114

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fix ParameterAlreadyDeclaredException in _on_heartbeat_timeout #114

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ba5e4e6
fix ParameterAlreadyDeclaredException when _on_heartbeat_timeout is c…
y-bachmann Dec 16, 2025
6242641
Reorder import statements in bondpy.py
y-bachmann Dec 16, 2025
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7 changes: 6 additions & 1 deletion bondpy/bondpy/bondpy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@

import rclpy
from rclpy.duration import Duration
from rclpy.exceptions import ParameterAlreadyDeclaredException


def duration_to_sec(duration):
Expand Down Expand Up @@ -184,7 +185,11 @@ def _on_connect_timeout(self):

def _on_heartbeat_timeout(self):
# Checks that heartbeat timeouts haven't been disabled globally
self.node.declare_parameter(Constants.DISABLE_HEARTBEAT_TIMEOUT_PARAM, False)
try:
if not self.node.has_parameter(Constants.DISABLE_HEARTBEAT_TIMEOUT_PARAM):
self.node.declare_parameter(Constants.DISABLE_HEARTBEAT_TIMEOUT_PARAM, False)
except ParameterAlreadyDeclaredException:
pass
disable_heartbeat_timeout = self.node.get_parameter(
Constants.DISABLE_HEARTBEAT_TIMEOUT_PARAM).value
if disable_heartbeat_timeout:
Expand Down