diff --git a/rclpy/rclpy/exceptions.py b/rclpy/rclpy/exceptions.py
index 4dc1e881f..ee22e8b38 100644
--- a/rclpy/rclpy/exceptions.py
+++ b/rclpy/rclpy/exceptions.py
@@ -11,6 +11,7 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+from typing import List, Optional, TYPE_CHECKING, Union
 
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 
@@ -18,21 +19,24 @@
 class NotInitializedException(Exception):
     """Raised when the rclpy implementation is accessed before rclpy.init()."""
 
-    def __init__(self, *args):
-        Exception.__init__(self, 'rclpy.init() has not been called', *args)
+    def __init__(self, message: Optional[str] = None) -> None:
+        if message:
+            Exception.__init__(self, f'rclpy.init() has not been called. msg:{message}')
+        else:
+            Exception.__init__(self, 'rclpy.init() has not been called.')
 
 
 class NoTypeSupportImportedException(Exception):
     """Raised when there is no type support imported."""
 
-    def __init__(self, *args):
+    def __init__(self) -> None:
         Exception.__init__(self, 'no type_support imported')
 
 
 class NameValidationException(Exception):
     """Raised when a topic name, node name, or namespace are invalid."""
 
-    def __init__(self, name_type, name, error_msg, invalid_index, *args):
+    def __init__(self, name_type: str, name: str, error_msg: str, invalid_index: int) -> None:
         msg = """\
 Invalid {name_type}: {error_msg}:
   '{name}'
@@ -47,103 +51,107 @@ def __init__(self, name_type, name, error_msg, invalid_index, *args):
 class InvalidNamespaceException(NameValidationException):
     """Raised when a namespace is invalid."""
 
-    def __init__(self, name, error_msg, invalid_index, *args):
+    def __init__(self, name: str, error_msg: str, invalid_index: int) -> None:
         NameValidationException.__init__(self, 'namespace', name, error_msg, invalid_index)
 
 
 class InvalidNodeNameException(NameValidationException):
     """Raised when a node name is invalid."""
 
-    def __init__(self, name, error_msg, invalid_index, *args):
+    def __init__(self, name: str, error_msg: str, invalid_index: int) -> None:
         NameValidationException.__init__(self, 'node name', name, error_msg, invalid_index)
 
 
 class InvalidTopicNameException(NameValidationException):
     """Raised when a topic name is invalid."""
 
-    def __init__(self, name, error_msg, invalid_index, *args):
+    def __init__(self, name: str, error_msg: str, invalid_index: int) -> None:
         NameValidationException.__init__(self, 'topic name', name, error_msg, invalid_index)
 
 
 class InvalidServiceNameException(NameValidationException):
     """Raised when a service name is invalid."""
 
-    def __init__(self, name, error_msg, invalid_index, *args):
+    def __init__(self, name: str, error_msg: str, invalid_index: int) -> None:
         NameValidationException.__init__(self, 'service name', name, error_msg, invalid_index)
 
 
 class ParameterException(Exception):
     """Base exception for parameter-related errors."""
 
-    def __init__(self, error_msg, parameters, *args):
+    def __init__(self, error_msg: str, parameters: Union[str, List[str]]) -> None:
         Exception.__init__(self, f'{error_msg}: {parameters}')
 
 
 class ParameterNotDeclaredException(ParameterException):
     """Raised when handling an undeclared parameter when it is not allowed."""
 
-    def __init__(self, parameters, *args):
-        Exception.__init__(self, 'Invalid access to undeclared parameter(s)', parameters, *args)
+    def __init__(self, parameters: Union[str, List[str]]) -> None:
+        ParameterException.__init__(self, 'Invalid access to undeclared parameter(s)', parameters)
 
 
 class ParameterAlreadyDeclaredException(ParameterException):
     """Raised when declaring a parameter that had been declared before."""
 
-    def __init__(self, parameters, *args):
-        Exception.__init__(self, 'Parameter(s) already declared', parameters, *args)
+    def __init__(self, parameters: Union[str, List[str]]) -> None:
+        ParameterException.__init__(self, 'Parameter(s) already declared', parameters)
 
 
 class InvalidParameterException(ParameterException):
     """Raised when a parameter to be declared has an invalid name."""
 
-    def __init__(self, parameter, *args):
-        Exception.__init__(self, 'Invalid parameter name', parameter, *args)
+    def __init__(self, parameter_name: str):
+        ParameterException.__init__(self, 'Invalid parameter name', parameter_name)
 
 
 class InvalidParameterTypeException(ParameterException):
     """Raised when a parameter is rejected for having an invalid type."""
 
-    def __init__(self, desired_parameter, expected_type, *args):
+    from rclpy.parameter import Parameter
+
+    def __init__(self, desired_parameter: Parameter, expected_type: Parameter.Type) -> None:
         from rclpy.parameter import Parameter
-        Exception.__init__(
+        ParameterException.__init__(
             self,
             f"Trying to set parameter '{desired_parameter._name}' to '{desired_parameter._value}'"
             f" of type '{Parameter.Type.from_parameter_value(desired_parameter._value).name}'"
             f", expecting type '{expected_type}'",
-            *args)
-        self._actual_type = desired_parameter.type_
-        self._param_name = desired_parameter.name
+            desired_parameter.name)
 
 
 class InvalidParameterValueException(ParameterException):
     """Raised when a parameter is rejected by a user callback or when applying a descriptor."""
 
-    def __init__(self, parameter, value, reason, *args):
-        Exception.__init__(
+    if TYPE_CHECKING:
+        from rclpy.parameter import AllowableParameterValue
+
+    def __init__(self, parameter: str, value: 'AllowableParameterValue', reason: str) -> None:
+        ParameterException.__init__(
             self,
             'Invalid parameter value ({value}) for parameter. Reason: {reason}'.format(
-                value=value, reason=reason), parameter, *args)
+                value=value, reason=reason), parameter)
 
 
 class ParameterImmutableException(ParameterException):
     """Raised when a read-only parameter is modified."""
 
-    def __init__(self, parameter, *args):
-        Exception.__init__(self, 'Attempted to modify read-only parameter', parameter, *args)
+    def __init__(self, parameter_name: str):
+        ParameterException.__init__(self, 'Attempted to modify read-only parameter',
+                                    parameter_name)
 
 
 class ParameterUninitializedException(ParameterException):
     """Raised when an uninitialized parameter is accessed."""
 
-    def __init__(self, parameter_name, *args):
-        Exception.__init__(
+    def __init__(self, parameter_name: str):
+        ParameterException.__init__(
             self,
             f"The parameter '{parameter_name}' is not initialized",
-            *args)
+            parameter_name)
 
 
 class ROSInterruptException(Exception):
     """Raised when an operation is canceled by rclpy shutting down."""
 
-    def __init__(self, *args):
-        Exception.__init__(self, 'rclpy.shutdown() has been called', *args)
+    def __init__(self) -> None:
+        Exception.__init__(self, 'rclpy.shutdown() has been called')
diff --git a/rclpy/rclpy/parameter.py b/rclpy/rclpy/parameter.py
index 767290343..7dce99b8b 100644
--- a/rclpy/rclpy/parameter.py
+++ b/rclpy/rclpy/parameter.py
@@ -17,6 +17,9 @@
 from typing import Dict
 from typing import List
 from typing import Optional
+from typing import Tuple
+from typing import TYPE_CHECKING
+from typing import Union
 
 from rcl_interfaces.msg import Parameter as ParameterMsg
 from rcl_interfaces.msg import ParameterType
@@ -25,6 +28,14 @@
 
 PARAMETER_SEPARATOR_STRING = '.'
 
+if TYPE_CHECKING:
+    AllowableParameterValue = Union[None, bool, int, float, str,
+                                    List[bytes], Tuple[bytes, ...],
+                                    List[bool], Tuple[bool, ...],
+                                    List[int], Tuple[int, ...], array.array[int],
+                                    List[float], Tuple[float, ...], array.array[float],
+                                    List[str], Tuple[str, ...], array.array[str]]
+
 
 class Parameter: