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I am trying to create an OPC-UA server in ROS-noetic for my robot so a client can subscribe to its topics. When I use "roslaunch ros_opcua_impl_python_opcua rosopcua.launch" command I have the error below. I appreciate any help or guidance.

[ERROR] [1715868776.735945, 15.838000]: Can't create type with name Duration [INFO] [1715868776.745651, 15.842000]: Created ROS Action with name: /xy_controller/follow_joint_trajectory [INFO] [1715868776.763320, 15.866000]: Created ROS Topic with name: /z_controller/state [INFO] [1715868776.768779, 15.870000]: Creating Action with name: /z_controller/follow_joint_trajectory Traceback (most recent call last): File "/home/hp/gantry_ws/src/ros_opcua_communication/ros_opcua_impl_python_opcua/scripts/ros_server.py", line 103, in main(sys.argv) File "/home/hp/gantry_ws/src/ros_opcua_communication/ros_opcua_impl_python_opcua/scripts/ros_server.py", line 99, in main rosserver = ROSServer() File "/home/hp/gantry_ws/src/ros_opcua_communication/ros_opcua_impl_python_opcua/scripts/ros_server.py", line 63, in init ros_topics.refresh_topics_and_actions(self.namespace_ros, self, self.topicsDict, self.actionsDict, File "/home/hp/gantry_ws/src/ros_opcua_communication/ros_opcua_impl_python_opcua/scripts/ros_topics.py", line 282, in refresh_topics_and_actions actionsdict[correct_name] = ros_actions.OpcUaROSAction(server, File "/home/hp/gantry_ws/src/ros_opcua_communication/ros_opcua_impl_python_opcua/scripts/ros_actions.py", line 62, in init self.main_node = self.parent.add_object( File "/home/hp/.local/lib/python3.8/site-packages/opcua/common/node.py", line 661, in add_object return opcua.common.manage_nodes.create_object(self, nodeid, bname, objecttype) File "/home/hp/.local/lib/python3.8/site-packages/opcua/common/manage_nodes.py", line 58, in create_object return node.Node(parent.server, _create_object(parent.server, parent.nodeid, nodeid, qname, ua.ObjectIds.BaseObjectType)) File "/home/hp/.local/lib/python3.8/site-packages/opcua/common/manage_nodes.py", line 171, in _create_object results[0].StatusCode.check() File "/home/hp/.local/lib/python3.8/site-packages/opcua/ua/uatypes.py", line 218, in check raise UaStatusCodeError(self.value) opcua.ua.uaerrors._auto.BadNodeIdExists: "The requested node id is already used by another node."(BadNodeIdExists)

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