From d5ccf97fc1ad91f4e09744682a2a23b7511ddae9 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Mon, 26 Feb 2024 21:50:14 +0900
Subject: [PATCH] chore(duplicate_node_checker): print duplication name (#6488)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
---
 .../config/duplicated_node_checker.param.yaml                   | 2 +-
 system/duplicated_node_checker/package.xml                      | 1 +
 .../src/duplicated_node_checker_core.cpp                        | 2 +-
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml b/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml
index 54b4f691b6eb1..96dce7eb360e4 100644
--- a/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml
+++ b/system/duplicated_node_checker/config/duplicated_node_checker.param.yaml
@@ -1,4 +1,4 @@
 /**:
   ros__parameters:
     update_rate: 10.0
-    add_duplicated_node_names_to_msg: false # if true, duplicated node names are added to msg
+    add_duplicated_node_names_to_msg: true # if true, duplicated node names are added to msg
diff --git a/system/duplicated_node_checker/package.xml b/system/duplicated_node_checker/package.xml
index e2ba225b16330..e25758ba51557 100644
--- a/system/duplicated_node_checker/package.xml
+++ b/system/duplicated_node_checker/package.xml
@@ -6,6 +6,7 @@
   <description>A package to find out nodes with common names</description>
   <maintainer email="shumpei.wakabayashi@tier4.jp">Shumpei Wakabayashi</maintainer>
   <maintainer email="uken.ryu@tier4.jp">yliuhb</maintainer>
+  <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
   <license>Apache 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
index 46c02d9d6e133..384c8fdc46c5f 100644
--- a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
+++ b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
@@ -69,7 +69,7 @@ void DuplicatedNodeChecker::produceDiagnostics(diagnostic_updater::DiagnosticSta
     if (add_duplicated_node_names_to_msg_) {
       std::set<std::string> unique_identical_names(identical_names.begin(), identical_names.end());
       for (const auto & name : unique_identical_names) {
-        msg += " " + name;
+        msg += "[" + name + "], ";
       }
     }
     for (auto name : identical_names) {