1.023 [ ERROR ][ScriptingService] Could not create transport stream for port JointStates with transport id 3

[dbdxnuliba]

rtt_pub_robot_states.ops

// Load controller component
import("rtt_ros")
import("rtt_rospack")
import("rtt_roscomm")

import("rtt_ethercat")
loadComponent("Rtt_ethercat","Rtt_ethercat")
setActivity("Rtt_ethercat",0.001,HighestPriority,ORO_SCHED_RT)

import("rtt_producer")
loadComponent("Rtt_producer","Rtt_producer")
setActivity("Rtt_producer",0.001,50,ORO_SCHED_RT)

// Load controller component
ros.import("rtt_robot_state_pub")
loadComponent("Rtt_robot_state_pub","Rtt_robot_state_pub")
setActivity("Rtt_robot_state_pub",0.001,10,ORO_SCHED_OTHER)

// Connect controller
import("rtt_rosnode")
connectPeers("Rtt_ethercat","Rtt_producer")
connectPeers("Rtt_producer","Rtt_robot_state_pub")
connect("Rtt_producer.outPortRobotState_","Rtt_robot_state_pub.inPort_robot_state_",ConnPolicy())
connect("Rtt_producer.outPort","Rtt_ethercat.inPort",ConnPolicy())
connect("Rtt_ethercat.outPortMesServoData_","Rtt_producer.inPortMesServoData_",ConnPolicy())
loadService("Rtt_robot_state_pub","rosservice")
stream("Rtt_robot_state_pub.JointStates",ros.comm.topic("/TmiArm/joint_states"))

// Configure & start controller
configureComponent("Rtt_robot_state_pub")
startComponent("Rtt_robot_state_pub")

// Configure & start trajectory sender
configureComponent("Rtt_producer")
startComponent("Rtt_producer")

// Configure & start controller
configureComponent("Rtt_ethercat")
startComponent("Rtt_ethercat")

1.023 [ Warning][ScriptingService] The protocol with id 3 did not register a fall-back handler for unknown types!
1.023 [ Warning][ScriptingService] triggered by: unknown_t which does not have a transport.
1.023 [ ERROR ][ScriptingService] Could not create transport stream for port JointStates with transport id 3
1.023 [ ERROR ][ScriptingService] No such transport registered. Check your policy.transport settings or add the transport for type unknown_t