fix(discovery): #146 prevent duplicate components for root namespace…

[mfaferek93]

Pull Request

Summary

prevent duplicate components for root namespace nodes

Nodes in root namespace (e.g., /fault_manager) publishing topics with
matching prefix (e.g., /fault_manager/events) were incorrectly creating
both a node-based app and a duplicate topic-based component.

Add node names to namespace set in get_node_namespaces() for root
namespace nodes, so discover_topic_components() skips creating
redundant topic-based components.

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Issue

Link the related issue (required):

• closes [BUG] Duplicate component created for root namespace nodes due to topic-based discovery collision #146

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Type

• Bug fix
• New feature or tests
• Breaking change
• Documentation only

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Testing

How was this tested / how should reviewers verify it?

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Checklist

• Breaking changes are clearly described (and announced in docs / changelog if needed)
• Tests were added or updated if needed
• Docs were updated if behavior or public API changed

[Copilot]

Pull request overview

This pull request fixes a bug where root namespace nodes publishing topics with matching prefixes incorrectly created duplicate topic-based components during discovery. The fix prevents nodes like /fault_manager from appearing both as a node-based app and as a duplicate topic-based component when publishing topics like /fault_manager/events.

Changes:

• Modified get_node_namespaces() to include root namespace node names in the namespace set, preventing topic-based discovery from creating duplicate components
• Added unit test to verify root namespace nodes don't create duplicate topic-based components
• Added integration test with a demo node to validate the fix in a real-world scenario

Reviewed changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 1 comment.

File	Description
src/ros2_medkit_gateway/src/discovery/runtime_discovery.cpp	Core fix: adds root namespace node names to the namespace set to prevent duplicate component creation
src/ros2_medkit_gateway/test/test_discovery_manager.cpp	Unit test verifying the fix by creating a publisher matching the node name and checking no duplicate is created
src/ros2_medkit_gateway/test/test_discovery_heuristic_apps.test.py	Integration test adding a root namespace demo node and verifying no duplicates exist in the API responses