if not self.node_.has_parameter(self.prefix_ + "{{parameter_name}}"):
{%- filter indent(width=4) %}
descriptor = ParameterDescriptor(description=r"{{parameter_description|valid_string_python}}", read_only = {{parameter_read_only}})
{%- if parameter_additional_constraints|length %}
descriptor.additional_constraints = "{{parameter_additional_constraints|valid_string_python}}"
{% endif -%}
{%- if "DOUBLE" in parameter_type %}
{%- set range = namespace(lower=None, upper=None) %}
{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
{%- if validation.arguments|length == 2 %}
{%- set range.lower = validation.arguments[0] %}
{%- set range.upper = validation.arguments[1] %}
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.lower = validation.arguments[0] %}
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.upper = validation.arguments[0] %}
{%- endif %}
{%- endfor %}
{%- if range.lower is not none or range.upper is not none %}
descriptor.floating_point_range.append(FloatingPointRange())
descriptor.floating_point_range[-1].from_value = {{range.lower if range.lower is not none else "-float('inf')"}}
descriptor.floating_point_range[-1].to_value = {{range.upper if range.upper is not none else "float('inf')"}}
{%- endif %}
{%- elif "INTEGER" in parameter_type %}
{%- set range = namespace(lower=None, upper=None) %}
{%- for validation in parameter_validations if ("bounds" in validation.function_name or "lt" in validation.function_name or "gt" in validation.function_name) %}
{%- if validation.arguments|length == 2 %}
{%- set range.lower = validation.arguments[0] %}
{%- set range.upper = validation.arguments[1] %}
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.lower = validation.arguments[0] %}
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.upper = validation.arguments[0] %}
{%- endif %}
{%- endfor %}
{%- if range.lower is not none or range.upper is not none %}
descriptor.integer_range.append(IntegerRange())
descriptor.integer_range[-1].from_value = {{range.lower if range.lower is not none else "-2**31-1"}}
descriptor.integer_range[-1].to_value = {{range.upper if range.upper is not none else "2**31-1"}}
{%- endif %}
{%- endif %}
{%- if not parameter_value|length %}
parameter = rclpy.Parameter.Type.{{parameter_type}}
{% endif -%}
{%- if parameter_value|length %}
parameter = updated_params.{{parameter_value}}
{% endif -%}
self.node_.declare_parameter(self.prefix_ + "{{parameter_name}}", parameter, descriptor)
{% endfilter -%}
