occupancy map server crash when is executed

[JeisonUR]

Description

the node throw instance of 'std::runtime_error' saying that the Node has already been added to an executor.

Your environment

• ROS Distro:
• OS Version: e.g. Ubuntu 18.04
• Source
• branch main

Backtrace or Console output

ros2 run moveit_ros_occupancy_map_monitor moveit_ros_occupancy_map_server 

[WARN] [1647551938.090227400] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[ERROR] [1647551938.090324926] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 'octomap_frame' parameter defined for octomap updates
[ERROR] [1647551938.090349020] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[WARN] [1647551938.090367319] [moveit.ros.occupancy_map_monitor]: No target frame specified for Octomap. No transforms will be applied to received data.
terminate called after throwing an instance of 'std::runtime_error'
what(): Node has already been added to an executor.
Stack trace (most recent call last):
#12 Object "", at 0xffffffffffffffff, in
#11 Object "/home/jeisonur/ws_moveit2/install/moveit_ros_occupancy_map_monitor/lib/moveit_ros_occupancy_map_monitor/moveit_ros_occupancy_map_server", at 0x556e53f4537d, in _start
#10 Source "../csu/libc-start.c", line 308, in __libc_start_main [0x7f9c3d1b80b2]
#9 Object "/home/jeisonur/ws_moveit2/install/moveit_ros_occupancy_map_monitor/lib/moveit_ros_occupancy_map_monitor/moveit_ros_occupancy_map_server", at 0x556e53f44f95, in main
#8 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f9c3d818f8f, in rclcpp::spin(std::shared_ptrrclcpp::Node)
#7 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f9c3d818ca8, in rclcpp::spin(std::shared_ptrrclcpp::node_interfaces::NodeBaseInterface)
#6 Object "/opt/ros/galactic/lib/librclcpp.so", at 0x7f9c3d7ecc66, in
#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7f9c3d44b6a8, in __cxa_throw
#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7f9c3d44b3f6, in std::terminate()
#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7f9c3d44b38b, in
#2 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7f9c3d43f910, in
#1 Source "/build/glibc-sMfBJT/glibc-2.31/stdlib/abort.c", line 79, in abort [0x7f9c3d1b6858]
#0 Source "../sysdeps/unix/sysv/linux/raise.c", line 51, in raise [0x7f9c3d1d703b]

[henningkayser]

@JeisonUR thanks for reporting. Let me know if #1130 fixes this for you.

[henningkayser]

#1130 fixes this from what I've seen