unable to start agent

I am able to succesfully run , registrar and verifier in a different machine(b), im trying to run agent in sytem (a) , but im not understanding how to
1. set up the ima-policy required, everytime i change something and restart my boot up gives me the error failed to load ima-policy, it doesnt read my ima-policy which is present in the etc/ima/ima-policy during bootup, but it does later .
2. run the agent, everytime i try to run i get an error which looks like this -
rclab@rclab-System-Product-Name:~$ start-keylime-agent
[sudo] password for rclab:
WARNING:esys:src/tss2-esys/api/Esys_NV_ReadPublic.c:309:Esys_NV_ReadPublic_Finish() Received TPM Error
ERROR:esys:src/tss2-esys/esys_tr.c:209:Esys_TR_FromTPMPublic_Finish() Error NV_ReadPublic ErrorCode (0x0000018b)
ERROR:esys:src/tss2-esys/esys_tr.c:320:Esys_TR_FromTPMPublic() Error TR FromTPMPublic ErrorCode (0x0000018b)
ERROR tss_esapi::context::general_esys_tr > Error when getting ESYS handle from TPM handle: the handle is not correct for the use (associated with handle number 1)
ERROR keylime_agent > Failed to register agent: RegistrarClientBuilder error

can someone help me on this?

Start with the boot error for /etc/ima/ima-policy and the output from start-keylime-agent. Investigate why the policy is unavailable during boot and why the TPM handle cannot be read during agent registration. Done means the policy loads during boot and the agent starts and registers successfully.

Written by the indexing model from the issue text.