[ERROR] [joint_state_publisher-3]: process has died

[Sylvania2]

Error while launching bringup:

[joint_state_publisher-3] Traceback (most recent call last): [joint_state_publisher-3] File "/opt/ros/galactic/lib/joint_state_publisher/joint_state_publisher", line 11, in <module> [joint_state_publisher-3] load_entry_point('joint-state-publisher==2.2.0', 'console_scripts', 'joint_state_publisher')() [joint_state_publisher-3] File "/opt/ros/galactic/lib/python3.8/site-packages/joint_state_publisher/joint_state_publisher.py", line 415, in main [joint_state_publisher-3] jsp = JointStatePublisher(parsed_args.urdf_file) [joint_state_publisher-3] File "/opt/ros/galactic/lib/python3.8/site-packages/joint_state_publisher/joint_state_publisher.py", line 217, in __init__ [joint_state_publisher-3] super().__init__('joint_state_publisher', automatically_declare_parameters_from_overrides=True) [joint_state_publisher-3] File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/node.py", line 216, in __init__ [joint_state_publisher-3] self.declare_parameters( [joint_state_publisher-3] File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/node.py", line 487, in declare_parameters [joint_state_publisher-3] raise ParameterAlreadyDeclaredException(parameters_already_declared) [joint_state_publisher-3] rclpy.exceptions.ParameterAlreadyDeclaredException: ('Parameter(s) already declared', ['use_sim_time']) [ERROR] [joint_state_publisher-3]: process has died [pid 11733, exit code 1, cmd '/opt/ros/galactic/lib/joint_state_publisher/joint_state_publisher --ros-args -r __node:=joint_state_publisher --params-file /tmp/launch_params_5pd3ox71'].

https://githubplus.com/ros2/rclpy/issues/948

Error is caused by the parameters "use_sim_time" in desciption.launch.py,:

` Node( package='joint_state_publisher', executable='joint_state_publisher', name='joint_state_publisher', condition=IfCondition(LaunchConfiguration("publish_joints")), parameters=[ {'use_sim_time': LaunchConfiguration('use_sim_time')} ] ),

` Removing ,parameters=[ {'use_sim_time': LaunchConfiguration('use_sim_time')} ]

Fixes the ERROR but might not be the correct way to fix this issue.

Best regards Kim

[grassjelly]

thanks for reporting this issue. This has been fixed here https://github.com/linorobot/linorobot2/commit/0aad8a4ce1f0ad503b3cd1649a7ee4e217b72ce4 . Please use an updated version

[grassjelly]

Sorry, just realised I closed this. Please close this issue if the commit resolves your issue @Sylvania2 . Thanks!