Catch `use_sim_time` bad value types

[hidmic]

Feature request

Feature description

Regarding TimeSource's use of the use_sim_time parameter, as per @ivanpauno's comment on #799:

...now that we allow registering multiple parameter callbacks, we should use a on_parameter_set callback for rejecting wrong use_sim_time values, instead of logging an error...

Implementation considerations

Relevant sources can be found here:

rclcpp/rclcpp/src/rclcpp/time_source.cpp

Lines 82 to 105 in 9be3e08

	// Though this defaults to false, it can be overridden by initial parameter values for the node,
	// which may be given by the user at the node's construction or even by command-line arguments.
	rclcpp::ParameterValue use_sim_time_param;
	const char * use_sim_time_name = "use_sim_time";
	if (!node_parameters_->has_parameter(use_sim_time_name)) {
	use_sim_time_param = node_parameters_->declare_parameter(
	use_sim_time_name,
	rclcpp::ParameterValue(false),
	rcl_interfaces::msg::ParameterDescriptor());
	} else {
	use_sim_time_param = node_parameters_->get_parameter(use_sim_time_name).get_parameter_value();
	}
	if (use_sim_time_param.get_type() == rclcpp::PARAMETER_BOOL) {
	if (use_sim_time_param.get<bool>()) {
	parameter_state_ = SET_TRUE;
	enable_ros_time();
	create_clock_sub();
	}
	} else {
	// TODO(wjwwood): use set_on_parameters_set_callback to catch the type mismatch,
	// before the use_sim_time parameter can ever be set to an invalid value
	RCLCPP_ERROR(logger_, "Invalid type '%s' for parameter 'use_sim_time', should be 'bool'",
	rclcpp::to_string(use_sim_time_param.get_type()).c_str());
	}

and here:

rclcpp/rclcpp/src/rclcpp/time_source.cpp

Lines 232 to 235 in 9be3e08

	if (it.second->value.type != ParameterType::PARAMETER_BOOL) {
	RCLCPP_ERROR(logger_, "use_sim_time parameter cannot be set to anything but a bool");
	continue;
	}