### Description

Running both demo launch files in run_moveit_cpp give duplicate nodes:

I believe this is caused by #230 as I can rebase to remove those commits and do not get duplicate nodes.

Your environment

• ROS Distro: Foxy
• OS Version: Ubuntu 20.04
• Source build: master branch

Steps to reproduce

Build moveit2 from source
ros2 launch run_moveit_cpp run_moveit_cpp.launch.py
In a new terminal while that is running:
ros2 node list

Expected behaviour

Rebasing to before that PR was merged gives what I would expect: