save_total_state parameter: ParameterAlreadyDeclaredException using subscribe.launch.py

[pglira]

When running

ros2 launch ov_msckf subscribe.launch.py config:=euroc_mav

from the tutorial https://docs.openvins.com/gs-tutorial.html I get the following error:

[run_subscribe_msckf-1] terminate called after throwing an instance of 'rclcpp::exceptions::ParameterAlreadyDeclaredException'
[run_subscribe_msckf-1]   what():  parameter 'save_total_state' has already been declared
[ERROR] [run_subscribe_msckf-1]: process has died [pid 11507, exit code -6, cmd '/ros_ws/install/ov_msckf/lib/ov_msckf/run_subscribe_msckf --ros-args -r __ns:=/ --params-file /tmp/launch_params_qa5bw91m --params-file /tmp/launch_params_0mltn1c9 --params-file /tmp/launch_params_0q29k68h --params-file /tmp/launch_params_t72tj74y --params-file /tmp/launch_params_effor9qu'].

Commenting out this line https://github.com/rpng/open_vins/blob/bf0ada9f4f6d671f472616ab00e5df3bd6d6ce83/ov_msckf/launch/subscribe.launch.py#L87 "solves" the issue.

[hodnajit]

Hi, I am facing the same error. May the error comes from this line run_subscribe_msckf.cpp line 64 options.automatically_declare_parameters_from_overrides(true);

[hodnajit]

I am facing the same error while running it on galactic docker ov_ros2_20_04 :)

[goldbattle]

You should be able to change these lines: https://github.com/rpng/open_vins/blob/0923323a4ed10a3f82554af938157b54ad941d4b/ov_msckf/src/ros/ROS2Visualizer.cpp#L87-L89

To something like this:

if (node->has_parameter("save_total_state")) {
  node->get_parameter<bool>("save_total_state", save_total_state);
}