岡田です．

hrpsysのシミュレータでrtcdを使っているのですが，クライアントからポートの接続などの初期処理を
行うときに，時どき以下のように
RTC::PortBase::connect
でエラーになります（毎回ではありません）
どのようなところに原因がありそうか，ヒントがあれば教えていただきたく思います．

hrpsys-simulator: PortBase.cpp:191: virtual RTC::ReturnCode_t
RTC::PortBase::connect(RTC::ConnectorProfile&): Assertion
`!isExistingConnId(connector_profile.connector_id)' failed.
[hrpsys-3] process has died [pid 5669, exit code -6, cmd
/home/k-okada/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/build.0308/hrpsys-base/bin/hrpsys-simulator
/home/k-okada/ros/fuerte/rtm-ros-robotics/rtmros_common/hrpsys/share/hrpsys/samples/PA10/PA10simulation.xml
-o manager.is_master:YES -o corba.nameservers:localhost:2809 -o
naming.formats:%n.rtc -o logger.file_name:/tmp/rtc%p.log -nodisp

なお，出力したログファイルの最後は以下のようになっています．

Jul 27 06:35:34.191 TRACE: InPortProvier: connector endian: little
Jul 27 06:35:34.191 PARANOID: InPortProvier: converted CDR data size: 88
Jul 27 06:35:34.191 TRACE: qRef: isNew()
Jul 27 06:35:34.191 DEBUG: qRef: isNew() = false, no readable data
Jul 27 06:35:34.191 TRACE: dqRef: isNew()
Jul 27 06:35:34.191 DEBUG: dqRef: isNew() = false, no readable data
Jul 27 06:35:34.191 TRACE: ddqRef: isNew()
Jul 27 06:35:34.191 DEBUG: ddqRef: isNew() = false, no readable data
Jul 27 06:35:34.191 TRACE: q: DataType write()
Jul 27 06:35:34.191 DEBUG: q: m_connectors.write called
Jul 27 06:35:34.191 TRACE: OutPortConnector: connector endian: little
Jul 27 06:35:34.191 TRACE: OutPortConnector: write()
Jul 27 06:35:34.191 PARANOID: OutPortConnector: data size = 88 bytes
Jul 27 06:35:34.191 PARANOID: PublisherFlush: write()
Jul 27 06:35:34.191 PARANOID: InPortCorbaCdrConsumer: put()
Jul 27 06:35:34.191 PARANOID: InPortProvier: InPortCorbaCdrProvider::put()
Jul 27 06:35:34.191 PARANOID: InPortProvier: received data size: 88
Jul 27 06:35:34.191 TRACE: InPortProvier: connector endian: little
Jul 27 06:35:34.191 PARANOID: InPortProvier: converted CDR data size: 88
Jul 27 06:35:34.191 DEBUG: q: m_connectors.write called
Jul 27 06:35:34.191 TRACE: OutPortConnector: connector endian: little
Jul 27 06:35:34.191 TRACE: OutPortConnector: write()
Jul 27 06:35:34.191 PARANOID: OutPortConnector: data size = 88 bytes
Jul 27 06:35:34.191 PARANOID: PublisherFlush: write()
Jul 27 06:35:34.191 PARANOID: InPortCorbaCdrConsumer: put()
Jul 27 06:35:34.192 PARANOID: InPortProvier: InPortCorbaCdrProvider::put()
Jul 27 06:35:34.192 PARANOID: InPortProvier: received data size: 88
Jul 27 06:35:34.192 TRACE: InPortProvier: connector endian: little
Jul 27 06:35:34.192 PARANOID: InPortProvier: converted CDR data size: 88
Jul 27 06:35:34.192 DEBUG: q: m_connectors.write called
Jul 27 06:35:34.192 TRACE: OutPortConnector: connector endian: little
Jul 27 06:35:34.192 TRACE: OutPortConnector: write()
Jul 27 06:35:34.192 PARANOID: OutPortConnector: data size = 88 bytes
Jul 27 06:35:34.192 PARANOID: PublisherFlush: write()
Jul 27 06:35:34.192 PARANOID: InPortCorbaCdrConsumer: put()
Jul 27 06:35:34.192 PARANOID: InPortProvier: InPortCorbaCdrProvider::put()
Jul 27 06:35:34.192 PARANOID: InPortProvier: received data size: 88
Jul 27 06:35:34.192 TRACE: InPortProvier: connector endian: little
Jul 27 06:35:34.192 PARANOID: InPortProvier: converted CDR data size: 88
Jul 27 06:35:34.192 DEBUG: q: m_connectors.write called
Jul 27 06:35:34.192 TRACE: OutPortConnector: connector endian: little
Jul 27 06:35:34.192 TRACE: StabilizerService: connect()
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