Question

Hello all.

I have cloned the most up to date version of the robotlocalization package from the GitHub repository. I experience a runtime error as I attempt to run the navsattransform_node. This is the output:

terminate called after throwing an instance of 'rclcpp::exceptions::ParameterAlreadyDeclaredException'
what(): parameter 'broadcast_utm_transform' has already been declared

Operating System:

Ubuntu 20.04.2 LTS

Installation type:

Source
Version or commit hash:

3.1.1
Steps to reproduce issue:

git clone -b foxy-devel https://github.com/cra-ros-pkg/robot_localization.git

colcon build --packages-select robot_localization

source install/setup.bash

ros2 run robotlocalization navsattransform_node
Expected behavior

The node will run without a runtime error
Actual behavior

Node crashes with the following console output:

terminate called after throwing an instance of 'rclcpp::exceptions::ParameterAlreadyDeclaredException'

what(): parameter 'broadcastutmtransform' has already been declared

Any help on this matter would greatly appreciated.

Asked by yefty on 2021-05-13 12:03:19 UTC

Answer 1

Have you opened this up as an issue on the github page for this package? What I am about to explain is more properly placed there.

The issue is on lines 110-120 of navsat_transform.cpp

broadcast_cartesian_transform_ =
  this->declare_parameter("broadcast_utm_transform", broadcast_cartesian_transform_);

if (broadcast_cartesian_transform_) {
  RCLCPP_WARN(
    this->get_logger(), "Parameter 'broadcast_utm_transform' has been deprecated. "
    "Please use 'broadcast_cartesian_transform' instead.");
} else {
  broadcast_cartesian_transform_ =
    this->declare_parameter("broadcast_utm_transform", broadcast_cartesian_transform_);
}

We can see that if the broadcast_utm_transform parameter is false, it will be declared on both the first statement and in the else branch.

If I had to guess on the intent of the code, the else branch should look more like this:

} else {
  broadcast_cartesian_transform_ =
    this->declare_parameter("broadcast_cartesian_transform", broadcast_cartesian_transform_);
}

(the name of the parameter should be different)

To jump passed this without modifying code, pass it true for broadcast_utm_transform parameter with:

ros2 run robot_localization navsat_transform_node --ros-args -p broadcast_utm_transform:=true

Please either open an issue on the github page, or let me know if you are not going to so I can.

Hope this helps!

Asked by djchopp on 2021-05-14 11:48:18 UTC

Comments

Thanks for the descriptive answer! Works like a charm and makes perfect sense. Originally I was just going to file a bug report but as I was going to, this message popped up:

.

So I was just making sure I was covering my bases first. Your answer has convinced me to file a bug report. Thank you very much.

Asked by yefty on 2021-05-14 16:20:02 UTC

robot_localization: navsat_transform_node runtime error

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