diff --git a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
index 009c06a548..6a946a6959 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
@@ -260,8 +260,6 @@ __check_parameters(
   for (const rclcpp::Parameter & parameter : parameters) {
     const rcl_interfaces::msg::ParameterDescriptor & descriptor =
       parameter_infos[parameter.get_name()].descriptor;
-    result = descriptor.type == parameter.get_type() ||
-      descriptor.type == rclcpp::PARAMETER_NOT_SET;
     result = result && __check_parameter_value_in_range(
       descriptor,
       parameter.get_parameter_value());
@@ -295,8 +293,7 @@ __set_parameters_atomically_common(
   if (result.successful) {
     for (size_t i = 0; i < parameters.size(); ++i) {
       const std::string & name = parameters[i].get_name();
-      // TODO(ivanpauno): Why updating the descriptor name in each set?
-      // Maybe, set the correct name when declare parameter is call, and delete it here.
+      parameter_infos[name].descriptor.type = parameters[i].get_type();
       parameter_infos[name].descriptor.name = parameters[i].get_name();
       parameter_infos[name].value = parameters[i].get_parameter_value();
     }
diff --git a/rclcpp/test/test_node.cpp b/rclcpp/test/test_node.cpp
index 7850857304..ded6f4f3b9 100644
--- a/rclcpp/test/test_node.cpp
+++ b/rclcpp/test/test_node.cpp
@@ -699,7 +699,6 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
     // setting a parameter with integer range descriptor
     auto name = "parameter"_unq;
     rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rclcpp::PARAMETER_INTEGER;
     descriptor.integer_range.resize(1);
     auto & integer_range = descriptor.integer_range.at(0);
     integer_range.from_value = 10;
@@ -726,7 +725,6 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
     // setting a parameter with integer range descriptor and wrong default value will throw
     auto name = "parameter"_unq;
     rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rclcpp::PARAMETER_INTEGER;
     descriptor.integer_range.resize(1);
     auto & integer_range = descriptor.integer_range.at(0);
     integer_range.from_value = 10;
@@ -735,10 +733,9 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
     ASSERT_THROW(node->declare_parameter(name, 42, descriptor), rclcpp::exceptions::InvalidParameterValueException);
   }
   {
-    // setting a parameter with floatin point range descriptor
+    // setting a parameter with floating point range descriptor
     auto name = "parameter"_unq;
     rcl_interfaces::msg::ParameterDescriptor descriptor;
-    descriptor.type = rclcpp::PARAMETER_DOUBLE;
     descriptor.floating_point_range.resize(1);
     auto & floating_point_range = descriptor.floating_point_range.at(0);
     floating_point_range.from_value = 10.0;
@@ -762,8 +759,8 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
     EXPECT_EQ(node->get_parameter(name).get_value<double>(), 11.0);
   }
   {
-    // setting a parameter with a different type will fail if
-    // it has a descriptor specifying a type
+    // setting a parameter with a different type is still possible
+    // when having a descriptor specifying a type (type is a status, not a constraint).
     auto name = "parameter"_unq;
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.type = rclcpp::PARAMETER_INTEGER;
@@ -773,12 +770,11 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
     EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
     EXPECT_EQ(value.get_value<int64_t>(), 42);
 
-    EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, "asd")).successful);
-
+    EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name, "asd")).successful);
     EXPECT_TRUE(node->has_parameter(name));
     value = node->get_parameter(name);
-    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_INTEGER);
-    EXPECT_EQ(value.get_value<int64_t>(), 42);
+    EXPECT_EQ(value.get_type(), rclcpp::PARAMETER_STRING);
+    EXPECT_EQ(value.get_value<std::string>(), "asd");
   }
 }