RuntimeError: Context.init() must only be called once

[ntukenmez3]

We have wanted to make our node to implement our controller on a swarm operation. However, we've seen the following issue.
We couldn't get the exact point. We run our executable python script after ros2 launch crazyflie launch.py. Could you help with this issue? I can also show package.xml and setup.py.

~/Desktop/ros2_ws$ ros2 run rl_agent cf_learning_node 
2024-12-15 18:35:46.934 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7419: open_and_lock_file failed -> Function open_port_internal
2024-12-15 18:35:46.934 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7423: open_and_lock_file failed -> Function open_port_internal
2024-12-15 18:35:46.934 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7425: open_and_lock_file failed -> Function open_port_internal
2024-12-15 18:35:46.935 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7449: open_and_lock_file failed -> Function open_port_internal
2024-12-15 18:35:46.935 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7453: open_and_lock_file failed -> Function open_port_internal
2024-12-15 18:35:46.935 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7455: open_and_lock_file failed -> Function open_port_internal
2024-12-15 18:35:46.936 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7523: open_and_lock_file failed -> Function open_port_internal
2024-12-15 18:35:46.936 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7525: open_and_lock_file failed -> Function open_port_internal
2024-12-15 18:35:46.937 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7557: open_and_lock_file failed -> Function open_port_internal
[INFO] [1734305746.975974375] [rl_agent_node]: crazyflie ROS2 is initiated...
Traceback (most recent call last):
  File "/home/ntukenmez3/Desktop/ros2_ws/install/rl_agent/lib/rl_agent/cf_learning_node", line 33, in <module>
    sys.exit(load_entry_point('rl-agent', 'console_scripts', 'cf_learning_node')())
  File "/home/ntukenmez3/Desktop/ros2_ws/build/rl_agent/rl_agent/rl_agent_node.py", line 42, in main
    node=cfLearning()
  File "/home/ntukenmez3/Desktop/ros2_ws/build/rl_agent/rl_agent/rl_agent_node.py", line 31, in __init__
    swarm = Crazyswarm()
  File "/home/ntukenmez3/Desktop/ros2_ws/build/crazyflie_py/crazyflie_py/crazyswarm_py.py", line 10, in __init__
    rclpy.init()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 89, in init
    return context.init(args, domain_id=domain_id)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 70, in init
    raise RuntimeError('Context.init() must only be called once')
RuntimeError: Context.init() must only be called once
[ros2run]: Process exited with failure 1

package.xml:

setup.py

[whoenig]

Hard to say without your code, but keep in mind that crazyflie_py creates a ROS node already, so in your scripts you should not attempt to create another node if you import crazyflie_py.

[ntukenmez3]

I think this is the answer. Actually I've realized that CrazyflieAPI is started as a node once we import crazyflie_py. I guess I need to use crazyflie.py as a main python script. Otherwise we would need to write our own API like in crazyflie.py i.e., super().__init__('CrazyflieAPI').