Address first round of feedback

Signed-off-by: Luca Della Vedova <[email protected]>

Author: luca-della-vedova

Diff for: rclrs/src/parameter.rs

@@ -504,7 +504,7 @@ impl ParameterMap {
             Some(entry) => {
                 if let ParameterStorage::Declared(storage) = entry {
                     if std::mem::discriminant(&storage.kind)
-                        == std::mem::discriminant(&value.static_kind())
+                        == std::mem::discriminant(&value.kind())
                         || matches!(storage.kind, ParameterKind::Dynamic)
                     {
                         if !storage.options.ranges.in_range(&value) {
@@ -538,7 +538,7 @@ impl ParameterMap {
                 ParameterStorage::Declared(storage) => match &storage.value {
                     DeclaredValue::Mandatory(p) => *p.write().unwrap() = value,
                     DeclaredValue::Optional(p) => *p.write().unwrap() = Some(value),
-                    DeclaredValue::ReadOnly(_) => {}
+                    DeclaredValue::ReadOnly(_) => unreachable!(),
                 },
                 ParameterStorage::Undeclared(param) => {
                     *param = value;

Diff for: rclrs/src/parameter/range.rs

@@ -68,13 +68,12 @@ impl ParameterRanges {
             .float
             .as_ref()
             .map(|range| {
-                // TODO(luca) Double check whether we should use MIN/MAX or INFINITY/NEG_INFINITY
                 if range.is_default() {
                     Default::default()
                 } else {
                     seq![1 # FloatingPointRange {
-                        from_value: range.lower.unwrap_or(f64::MIN),
-                        to_value: range.upper.unwrap_or(f64::MAX),
+                        from_value: range.lower.unwrap_or(f64::NEG_INFINITY),
+                        to_value: range.upper.unwrap_or(f64::INFINITY),
                         step: range.step.unwrap_or(0.0),
                     }]
                 }