rospy.service.ServiceException: service [/carla/ego_vehicle/set_parameters] already registered

[carla-simulator]

rospy.service.ServiceException: service [/carla/ego_vehicle/set_parameters] already registered

[krdindorkar19]

After running roslaunch carla_ros_bridge client_with_rviz.launch rosbag_fname:=/tmp/save_session.bag and manual_control.py, I got this error :

[INFO] [1547788374.566019, 905.400013]: Reconfigure Request: speed (0.05, 0.0, 0.5),accel (0.02, 0.0, 0.05),
Traceback (most recent call last):
File "/home/kpit/Kartiki/Carla0.9.2/catkin_ws_carla/src/carla_ros_bridge/src/carla_ros_bridge/bridge.py", line 158, in _carla_time_tick
self.update()
File "/home/kpit/Kartiki/Carla0.9.2/catkin_ws_carla/src/carla_ros_bridge/src/carla_ros_bridge/parent.py", line 156, in update
self._create_new_children()
File "/home/kpit/Kartiki/Carla0.9.2/catkin_ws_carla/src/carla_ros_bridge/src/carla_ros_bridge/parent.py", line 101, in _create_new_children
carla_actor=actor, parent=self)
File "/home/kpit/Kartiki/Carla0.9.2/catkin_ws_carla/src/carla_ros_bridge/src/carla_ros_bridge/vehicle.py", line 42, in create_actor
return EgoVehicle.create_actor(carla_actor=carla_actor, parent=parent)
File "/home/kpit/Kartiki/Carla0.9.2/catkin_ws_carla/src/carla_ros_bridge/src/carla_ros_bridge/ego_vehicle.py", line 54, in create_actor
return AckermannControlVehicle(carla_actor=carla_actor, parent=parent)
File "/home/kpit/Kartiki/Carla0.9.2/catkin_ws_carla/src/carla_ros_bridge/src/carla_ros_bridge/ego_vehicle.py", line 327, in init
callback=(lambda config, level: AckermannControlVehicle.reconfigure_pid_parameters(
File "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/server.py", line 83, in init
self.set_service = rospy.Service(self.ns + 'set_parameters', ReconfigureSrv, self._set_callback)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 714, in init
get_service_manager().register(self.resolved_name, self)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/service.py", line 116, in register
raise ServiceException(err)
rospy.service.ServiceException: service [/carla/ego_vehicle/set_parameters] already registered

[fabianoboril]

Are you using two ego vehicles? For each you need to run a separate ros-bridge!

[krdindorkar19]

@fabianoboril , It is conflicting between the vehicle I have created in manual_control and one from setting.YAML file, how to map vehicle from setting.YAML file to manual_control.py?

[rohanb2018]

Running into the same issue when I was trying to run manual_control.py with client_with_rviz.launch, but only when the control_mode is set to ackermann (it seemed to work fine with the mode set to pedal, probably because the pedal controller doesn't use a dynamic reconfigure server). This was on the 0.9.2 ROS bridge version, though, so maybe the issue is resolved now?

[fpasch]

The controller has moved to a separate ros node carla_ackermann_control If you have multiple ego-vehicles, just specify the ros parameter role_name.