have the same node

[885288421]

I have run：
ros2 launch rf2o_laser_odometry rf2o_laser_odometry.launch.py
[INFO] [launch]: All log files can be found below /home/agilex/.ros/log/2022-04-08-20-32-56-562713-agilex-15929
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rf2o_laser_odometry_node-1]: process started with pid [15931]
[rf2o_laser_odometry_node-1] [WARN] [1649421176.752449874] [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.
[rf2o_laser_odometry_node-1] [INFO] [1649421176.753410054] [rf2o_laser_odometry]: Initializing RF2O node...

in another ros2 node list
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/rf2o_laser_odometry
/rf2o_laser_odometry
/transform_listener_impl_559e9c2c7520

[tugbakara]

Have the same issue, did you solve?

[NTques]

The issue occurs because CLaserOdometry2D inherits from rclcpp::Node, and when launched through a launch file, multiple nodes with the same name are created.

When executed using the ros2 run command, running ros2 node list shows the following output:

/CLaserOdometry2D
/CLaserOdometry2DNode
/transform_listener_impl_58e8119c2700

Upon reviewing the code, it was confirmed that the CLaserOdometry2D class inherits from rclcpp::Node solely to use rclcpp::Logger. With a simple code modification, this can be fixed by removing the inheritance from rclcpp::Node and either creating an rclcpp::Logger directly within the class or receiving the logger from CLaserOdometryNode.

That said, no particular issues caused by this problem have been identified during use.

---

• Additionally, I confirmed that rclcpp::Clock is also being used.