Adding duplicate node information

[CursedRock17]

This resolves issue #984 just bringing more information to an error message when there are multiple nodes that are being published. Originally the issue wanted to just add the logger name to make it easier to read, but I also got the node name because I figured to user should want to know both, making an easier to resolve the duplicate node.

That should solve the issue, but there is still a TODO, that's been there since 2019, which talks about the design docs and the instability of duplicate nodes. Do we want to add anything now, like mentioned in the doc:

For a default (non-production) behavior I think having the newer node raise an exception makes sense

Or is it better to leave it be?

[clalancette]

I've left some comments on things to fix inline.

To reply to:

That should solve the issue, but there is still a TODO, that's been there since 2019, which talks about the design docs and the instability of duplicate nodes. Do we want to add anything now, like mentioned in ros2/design#187:

For a default (non-production) behavior I think having the newer node raise an exception makes sense

Or is it better to leave it be?

Certainly we should do it in a separate PR if we want to attempt to address it.

That said, it is likely a large project. I don't think it will be a lot of code change, but there will have to be a lot of research done both in the code (composition, SROS2, etc), and into how the community is using node names. And since a change like that will almost certainly break some downstream users, we'll have to do community outreach to make sure people are aware that the change is coming.

[fujitatomoya]

@CursedRock17 thanks for the contribution, i am good to go.

@clalancette can you do the review?

[clalancette]

Two more small fixes, then we are ready for CI.

[clalancette]

CI:

• Linux
• Linux-aarch64
• Windows