Node duplicated when 'name' specified in the .launch.py

Issue report

Required Info:

• Operating System:

  $ lsb_release -a
  No LSB modules are available.
  Distributor ID: Ubuntu
  Description:    Ubuntu 20.04.3 LTS
  Release:        20.04
  Codename:       focal
  $ uname -a
  Linux 1_xterm 4.15.0-1009-aws #9-Ubuntu SMP Wed May 16 15:22:54 UTC 2018 x86_64 x86_64 x86_64 GNU/Linux
  

• Installation type, Version or commit hash:

  $ apt-cache policy ros-foxy-launch
  Installed: 0.10.10-1focal.20230306.200955
  Candidate: 0.10.10-1focal.20230306.200955
  

• DDS implementation:
  • No idea how to find that. stackoverflow.com#49004420
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

t_launch.py (this causes the issue)

import os
import yaml

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    launchdemo = Node(
        name="pick_place_sample2",
        package="get_pose_client",
        # executable="test_trajectory",
        #executable="test_trajectory2",
        executable="pick_place",
        output="screen",
        parameters=[],
    )
    nodes_to_start = [launchdemo]

    return LaunchDescription(nodes_to_start)

#include <string>
#include "rclcpp/rclcpp.hpp"

class PickPlace : public rclcpp::Node {
public:
  PickPlace(std::shared_ptr<rclcpp::Node> move_group_node)
      : Node("pick_place") {} // end of constructor

}; // End of Class

int main(int argc, char **argv) {
  rclcpp::init(argc, argv);
  rclcpp::NodeOptions node_options;
  node_options.automatically_declare_parameters_from_overrides(true);
  auto move_group_node =
      rclcpp::Node::make_shared("move_group_demo", node_options);

  rclcpp::executors::SingleThreadedExecutor planner_executor;
  std::shared_ptr<PickPlace> planner_node =
      std::make_shared<PickPlace>(move_group_node);
  planner_executor.add_node(planner_node);
  planner_executor.spin();

  rclcpp::shutdown();
  return 0;
}

Expected behavior

[INFO] [pick_place-1]: process started with pid [25768]
:
(No error/warning from this node)

Actual behavior

Stdout

[INFO] [pick_place-1]: process started with pid [25768]
[pick_place-1] [WARN] [1681532371.573175635] [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.

$ ros2 node list
WARNING: Be aware that are nodes in the graph that share an exact name, this can have unintended side effects.
:
/pick_place_sample2
/pick_place_sample2
:

Additional information

Seems related answers.ros.org#344141.

Possible workaround

As mentioned answers.ros.org#344141, removing name in Node instance seems to stop the issue.

Start by running the provided t_launch.py with the shown C++ node and compare behavior with and without the Node name argument. Trace launch_ros.actions.Node and the process setup to determine why the named node appears twice; done means the launch produces one /pick_place_sample2 node without the rosout duplicate-name warning.