recoveries node registers multiple subnodes with same name #909
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 18
- Installation type:
- source
- Version or commit hash:
- DDS implementation:
- OpenSplice
- Client library (if applicable):
- N/A
Steps to reproduce issue
ros2 run nav2_motion_primitives motion_primitives_node
Expected behavior
Starts up with no problem
Actual behavior
Emits a warning:
[INFO] [motion_primitives]: Configuring Spin
[INFO] [motion_primitives]: Robot: Creating
[WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name 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.
[INFO] [motion_primitives]: Configuring BackUp
[INFO] [motion_primitives]: Robot: Creating
The duplicate nodes can be seen in ros2 node list:
/motion_primitives
/motion_primitive_GetRobotPose_client
/motion_primitive_GetRobotPose_client
Additional information
This would be resolved by fixing #816