Too many nodes with same name

[LuZhishan]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

When I launch many yolox node with multiple_yolox.launch.xml here, there will be many node with same name

Expected behavior

There should be many node with different names

Actual behavior

Steps to reproduce

1. change the image_number larger than 1
2. launch multiple_yolox.launch.xml

Versions

• OS: ubuntu22.04
• ROS2: hubmle
• AutoWare: latest

Possible causes

No response

Additional context

There are two ways to solve this problem
The first one, change node name of tensorrt_yolox to $(anon tensorrt_yolox), and image_transport_decompressor_node to $(anon image_transport_decompressor_node)
The second one, add a param passed form uper launch named tensorrt_yolox_1 for example.

[cyn-liu]

@LuZhishan Thanks for your suggestion.
When I used the first method to solve this problem(draft PR), I found that the node names were still the same. I think this is abnormal. Does anyone know the reason? @mitsudome-r @xmfcx @dan-dnn @ktro2828 @manato

#ros2 node list
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/image_transport_decompressor_node_cynthia_liu_25507_8885756925087757029
/image_transport_decompressor_node_cynthia_liu_25507_8885756925087757029
/tensorrt_yolox_cynthia_liu_25507_5677783873391810063
/tensorrt_yolox_cynthia_liu_25507_5677783873391810063

[badai-nguyen]

@LuZhishan Thanks for your suggestion. When I used the first method to solve this problem(draft PR), I found that the node names were still the same. I think this is abnormal. Does anyone know the reason? @mitsudome-r @xmfcx @dan-dnn @ktro2828 @manato

#ros2 node list
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
/image_transport_decompressor_node_cynthia_liu_25507_8885756925087757029
/image_transport_decompressor_node_cynthia_liu_25507_8885756925087757029
/tensorrt_yolox_cynthia_liu_25507_5677783873391810063
/tensorrt_yolox_cynthia_liu_25507_5677783873391810063

@cyn-liu
I guess the reason is the multiple_yolox.launch.xml launch multi time yolox.launch.xml with name="$(anon tensorrt_yolox)" but in a very short time so that ROS2 is fail to create the distinct identifiers for each instance?
I think a better solution is adding a parameter for node name in yolox.lauch.xml and explicitly assign them in multi_yolox.launch.xml.

[amadeuszsz]

@badai-nguyen

I think a better solution is adding a parameter for node name in yolox.lauch.xml and explicitly assign them in multi_yolox.launch.xml.

FYI recently I was implementing something similar and I just followed same way as it is in ROS 2 geometry2 packages. It doesn't look nice but it works. I assume this approach might be good for packages with multiple instances.

[cyn-liu]

@badai-nguyen

I think a better solution is adding a parameter for node name in yolox.lauch.xml and explicitly assign them in multi_yolox.launch.xml.

FYI recently I was implementing something similar and I just followed same way as it is in ROS 2 geometry2 packages. It doesn't look nice but it works. I assume this approach might be good for packages with multiple instances.

Perhaps method ROS 2 geometry2 packages is effective, but it is not the best choice in this node. In node tensorrt_yolox, object node_options is const type, and cannot call non const member function arguments().