You are missing port introspection registers for this port, which is an error. I wrote about this already in Python API to configure the subject-IDs/service-IDs/registers.
The correct pattern is uavcan.(pub|sub|cln|srv).PORT_NAME.(id|type). For example, uavcan.pub.rmap_module_th.id and uavcan.pub.rmap_module_th.type. You are free to have other registers named as you see fit, but you must have these standard ones as well.