Duplicate node creation

[jmilligan-launchpad]

Hello,

I've been working to integrate PlanSys2 (jazzy) with my own project , but I noticed that it was creating duplicate nodes for the problem, domain and planner clients.

It looks to me as though the executor creates an instance of each of it's own for these.

But it also seems to create a duplicate problem and domain node on each new plan execution. I'm curious if I'm doing something wrong or if it's an inherent issue.

I tested this with the examples: patrol_navigation and was seeing the same problem:

plansys2_node-1] [WARN] [1757687605.959491608] [rcl.logging_rosout]: Publisher already registered for node name: 'domain_expert_client'. If this is due to multiple nodes with the same name then all logs for the logger named 'domain_expert_client' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[plansys2_node-1] [WARN] [1757687606.014899957] [rcl.logging_rosout]: Publisher already registered for node name: 'problem_expert_client'. If this is due to multiple nodes with the same name then all logs for the logger named 'problem_expert_client' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.

and this is reflected by there being multiple listed when doing a ros2 node list:

/domain_expert
/domain_expert_client
/domain_expert_client
/domain_expert_client
/domain_expert_client
/domain_expert_lc_mngr
/executor
/executor_client
/executor_lc_mngr
/move_action_node
/nav2_sim_node
/patrol_action_node
/patrolling_controller
/pick
/planner
/planner_client
/planner_client
/planner_lc_mngr
/problem_expert
/problem_expert_client
/problem_expert_client
/problem_expert_client
/problem_expert_client
/problem_expert_lc_mngr
/screw

I'm curious if I'm doing something wrong that may be causing this. The code works fine, but creating so many duplicate nodes is obviously a problem and not just something I can ignore.

Any help is hugely appreciated, thank you.

[fmrico]

It shouldn't. I will check it