search

ros / joint_state_publisher

http://wiki.ros.org/joint_state_publisher
50 stars 81 forks source link

ParameterAlreadyDeclaredException on initialization with use_sim_time #82

Closed xouillet closed 2 years ago

xouillet commented 2 years ago

Hi,

On galactic, with last version of rclpy (1.9.1), joint_state_publisher fails to initialize if we set the parameter use_sim_time.

Traceback (most recent call last):   File "/opt/ros/galactic/lib/joint_state_publisher/joint_state_publisher", line 11, in <module>
     load_entry_point('joint-state-publisher==2.2.0', 'console_scripts', 'joint_state_publisher')()   File "/opt/ros/galactic/lib/python3.8/site-packages/joint_state_publisher/joint_state_publisher.py", line 415, in main
     jsp = JointStatePublisher(parsed_args.urdf_file)   File "/opt/ros/galactic/lib/python3.8/site-packages/joint_state_publisher/joint_state_publisher.py", line 217, in __init__
     super().__init__('joint_state_publisher', automatically_declare_parameters_from_overrides=True)
   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/node.py", line 216, in __init__     self.declare_parameters(
   File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/node.py", line 487, in declare_parameters     raise ParameterAlreadyDeclaredException(parameters_already_declared)
rclpy.exceptions.ParameterAlreadyDeclaredException: ('Parameter(s) already declared', ['use_sim_time'])

That's because rclpy v. 1.9.1 introduces this commit: https://github.com/ros2/rclpy/commit/4d97b4ecf0ae5ae42a4ed7e41cffcacb51a85219 that now raises ParameterAlreadyDeclaredException when using automatically_declare_parameters_from_overrides.

Basic fix could be to set automatically_declare_parameters_from_overrides to False, as I'm not sure this is necessary.

feixyz10 commented 2 years ago

Same problem was encountered. Can only manually set use_sim_time param to activate simulation clock.

Kaetera commented 2 years ago

Hello, same for us on Galactic. This is preventing to simulate our system in Gazebo

xouillet commented 2 years ago

Actually, issue has been spotted and fixed in rclpy, cf. https://github.com/ros2/rclpy/pull/896. Issue should be fixed with the new release of rclpy 1.9.2 released yesterday.

clalancette commented 2 years ago

Given that this was fixed in rclpy, going to close this out.