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Description
When running the ROS bridge against foxy using cyclone, or galactic I suppose, I am running into a duplicate topic error.
The problem occurs when multiple sensors (or actors) try to create the same topic with a different type. I am not yet sure which sensors are creating duplicates, but we have a test that spawns one of everything and it consistently fails on sensor creation.
exception in thread Thread-1:
TraceTraceback (most recent call last):
File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner
self.run()
File "/usr/lib/python3.8/threading.py", line 870, in run
self._target(*self._args, **self._kwargs)
File "/[OBFUSCATED]install/carla_ros_bridge/lib/python3.8/site-packages/carla_ros_bridge/actor_factory.py", line 96, in _update_thread
self.update_available_objects()
File "/[OBFUSCATED]install/carla_ros_bridge/lib/python3.8/site-packages/carla_ros_bridge/actor_factory.py", line 114, in update_available_objects
self._create_object_from_actor(carla_actor)
File "/[OBFUSCATED]install/carla_ros_bridge/lib/python3.8/site-packages/carla_ros_bridge/actor_factory.py", line 256, in _create_object_from_actor
obj = self._create_object(carla_actor.id, carla_actor.type_id, name,
File "/[OBFUSCATED]install/carla_ros_bridge/lib/python3.8/site-packages/carla_ros_bridge/actor_factory.py", line 403, in _create_object
actor = ImuSensor(uid, name, parent, spawn_pose, self.node,
File "/[OBFUSCATED]install/carla_ros_bridge/lib/python3.8/site-packages/carla_ros_bridge/imu.py", line 52, in __init__
self.imu_publisher = node.new_publisher(Imu, self.get_topic_prefix(), qos_profile=10)
File "/[OBFUSCATED]install/ros_compatibility/lib/python3.8/site-packages/ros_compatibility/node.py", line 175, in new_publisher
return self.create_publisher(
File "/opt/ros/foxy/lib/python3.8/site-packages/rclpy/node.py", line 1144, in create_publisher
publisher_capsule = _rclpy.rclpy_create_publisher(
_rclpy.RCLError: Failed to create publisher: failed to create topic, at /tmp/binarydeb/ros-foxy-rmw-cyclonedds-cpp-0.7.8/src/rmw_node.cpp:1872, at /tmp/binarydeb/ros-foxy-rcl-1.1.13/src/rcl/publisher.c:180
It's related to ros2/rmw_cyclonedds#111 but adding multiple types for a topic is definitely not supported.
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