Running Astrobee in simulation with dds:=true fails

[ana-GT]

I am trying to run Astrobee in simulation with dds, like so:

roslaunch astrobee sim.launch dds:=true rviz:=true

and I get the error copied at the end of this message. In short: The participant fails to be enabled and hence it is not registered, which crashes the bridge node eventually.

Last time I ran with the dds:=true option was mid-August and everything was working well. I am running on Ubuntu 20.04, latest astrobee in develop branch and RTI libraries versions 5.1.0 (rti-dev) and 5.3.1 (rti-connect-dds)

Thanks! And if more debug info is needed, please let me know.

Error message pasted below:

Warning [Model.cc:216] Non-unique name[top_aft] detected 2 times in XML children of model with name[bsharp].
Node::Advertise(): Error advertising topic [default/bsharp/body/nav_cam/image]. Did you forget to start the discovery service?
Node::Advertise(): Error advertising topic [default/bsharp/body/dock_cam/image]. Did you forget to start the discovery service?
[spawn_astrobee-6] process has finished cleanly
log file: /home/ana/.ros/log/018d84ce-7513-11ee-962a-c5be934289d0/spawn_astrobee-6*.log
Constructing kn::DdsEntitiesFactorySvc.
Constructing kn::DdsEntitiesFactory.
2023-10-27 16:51:45.424621 DDS Initial peers layout for Bumble0-multi-bridge
2023-10-27 16:51:45.424633 127.0.0.1
Constructing kn::DdsEntitiesFactorySvc.
Constructing kn::DdsEntitiesFactory.
2023-10-27 16:51:45.436769 DDS Initial peers layout for Bumble0
2023-10-27 16:51:45.436781 127.0.0.1
[ WARN] [1698443505.527436219, 0.216000000] : (ros.mapper./mapper) Mapper disabled, obstacle avoidance not working!
2023-10-27 16:51:45.676954 DdsSupport::init() - Failed to enable participant: DDS_RETCODE_ERROR
2023-10-27 16:51:45.689141 DdsSupport::init() - Failed to enable participant: DDS_RETCODE_ERROR
[ERROR] [1698443505.689749979, 0.376000000] : (ros.dds_ros_bridge) RapidCommandRosCommand exception: get failed, "Bumble" not in repository
terminate called after throwing an instance of 'Miro::RepositoryBase::ENotRegistered'
  what():  get failed, "Bumble" not in repository
[ WARN] [1698443506.463204335, 1.152000000] : (ros.sys_monitor./sys_monitor) Heartbeat unrecognized from depth_odom!
[imu_calibration-55] process has finished cleanly
log file: /home/ana/.ros/log/018d84ce-7513-11ee-962a-c5be934289d0/imu_calibration-55*.log
[mlp_communications-26] process has died [pid 478671, exit code -6, cmd /opt/ros/noetic/lib/nodelet/nodelet manager __name:=mlp_communications __log:=/home/ana/.ros/log/018d84ce-7513-11ee-962a-c5be934289d0/mlp_communications-26.log].
log file: /home/ana/.ros/log/018d84ce-7513-11ee-962a-c5be934289d0/mlp_communications-26*.log
[dds_ros_bridge-53] process has finished cleanly
log file: /home/ana/.ros/log/018d84ce-7513-11ee-962a-c5be934289d0/dds_ros_bridge-53*.log