bridge does not work with rclpy 1.9.1

[zernchri]

The ros-bridge stopped working for me, since I did apt upgrade on my PC. I get the following output messages when running ros2 launch carla_ros_bridge carla_ros_bridge.launch.py:

[INFO] [launch]: All log files can be found below /home/sim/.ros/log/2022-06-13-19-15-10-143712-sim-SYS-7049GP-TRT-26978 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [bridge-1]: process started with pid [26980] [bridge-1] Traceback (most recent call last): [bridge-1] File "/home/sim/carla-ros-bridge/install/carla_ros_bridge/lib/carla_ros_bridge/bridge", line 11, in [bridge-1] load_entry_point('carla-ros-bridge==0.0.0', 'console_scripts', 'bridge')() [bridge-1] File "/home/sim/carla-ros-bridge/install/carla_ros_bridge/lib/python3.8/site-packages/carla_ros_bridge/bridge.py", line 385, in main [bridge-1] carla_bridge = CarlaRosBridge() [bridge-1] File "/home/sim/carla-ros-bridge/install/carla_ros_bridge/lib/python3.8/site-packages/carla_ros_bridge/bridge.py", line 63, in init [bridge-1] super(CarlaRosBridge, self).init("ros_bridge_node") [bridge-1] File "/home/sim/carla-ros-bridge/install/ros_compatibility/lib/python3.8/site-packages/ros_compatibility/node.py", line 138, in init [bridge-1] super(CompatibleNode, self).init( [bridge-1] File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/node.py", line 216, in init [bridge-1] self.declare_parameters( [bridge-1] File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/node.py", line 487, in declare_parameters [bridge-1] raise ParameterAlreadyDeclaredException(parameters_already_declared) [bridge-1] rclpy.exceptions.ParameterAlreadyDeclaredException: ('Parameter(s) already declared', ['use_sim_time']) [ERROR] [bridge-1]: process has died [pid 26980, exit code 1, cmd '/home/sim/carla-ros-bridge/install/carla_ros_bridge/lib/carla_ros_bridge/bridge --ros-args -r __node:=carla_ros_bridge --params-file /tmp/launch_params__k9_46r0 --params-file /tmp/launch_params_yoxtrkjv --params-file /tmp/launch_params_rgmanzbg --params-file /tmp/launch_params_zbyq4qj1 --params-file /tmp/launch_params_lt6787t2 --params-file /tmp/launch_params_o5hst251 --params-file /tmp/launch_params_09gel_2k --params-file /tmp/launch_params_q8t_dj29 --params-file /tmp/launch_params_33qgwaqm --params-file /tmp/launch_params_b6o8nu81']. [INFO] [launch]: process[bridge-1] was required: shutting down launched system

I think the problem occurs due to a version upgrade of rclpy from 1.9.0 to 1.9.1 and a lack of compatibility to the bridge. I think the reason for this is in /home/sim/carla-ros-bridge/install/ros_compatibility/lib/python3.8/site-packages/ros_compatibility/node.py in the init function (ln 136ff), where the use_sim_time variable is used. When changing the boolean values there, the error changes to Error: time-out of 2000ms while waiting for the simulator, make sure the simulator is ready and connected to localhost:2000. Since carla runs properly, I think this error also occurs due to a missmatch of the sim_time.

Has someone else face the same issue and knows how to fix this? If I understand this errors correct, I would suggest everybody should have the same problem when changing the rclpy version.

[fawadshahid]

@zernchri Any updates on this ? I'm facing the same issue

[zernchri]

The problem occurs due to a change in rclpy, as i expected. There was a change in the script node.py in rclpy, see https://github.com/ros2/rclpy/commit/8daacddc4fd72373fe9429de5ba3b2d2a5868078. The if automatically_declare_parameters_from_overrides part was changed. I solved that by simply changing this part of the node.py that changed in rclpy back to the old version. Now it works again for me. To just set the automatically_declare_parameters_from_overrides to false in the ros_compatibilty node also worked to start the bridge (you also have to increase the timeout when starting the bridge), but then spawning of the ego_vehicle caused issues again. Dont know it changing the rclpy script is the cleanest solution, but at least it works at the moment.

[fawadshahid]

@zernchri Thanks! I did the exact same thing before you posted this and it worked for me. I hope this release starts shipping with galactic.