From 2bddb99d83b13efe064a4159dd5027278e81ef85 Mon Sep 17 00:00:00 2001
From: "Takahisa.Ishikawa" <takahisa.ishikawa@tier4.jp>
Date: Tue, 13 Jan 2026 20:08:31 +0900
Subject: [PATCH 1/2] Revert "feat(rclcpp_components): deduplicate node loading
 if FQN already exists (#13)"

This reverts commit 4a026d540b0a26bb7202e9cd4426bfd8ed372d61.
---
 rclcpp_components/src/component_manager.cpp | 61 ---------------------
 1 file changed, 61 deletions(-)

diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp
index bd568fadbd..036350a64f 100644
--- a/rclcpp_components/src/component_manager.cpp
+++ b/rclcpp_components/src/component_manager.cpp
@@ -29,62 +29,6 @@ using namespace std::placeholders;
 
 namespace rclcpp_components
 {
-namespace
-{
-  /// Check if a node with the same name already exists in the container
-  /**
-   * \param request information with the node to load
-   * \param node_wrappers map of nodes in the container
-   * \param logger logger
-   * \param response response to be filled if node already exists
-   * \return true if node already exists, false otherwise
-   */
-bool check_node_duplication(
-  const std::shared_ptr<composition_interfaces::srv::LoadNode::Request> request,
-  const std::map<uint64_t, rclcpp_components::NodeInstanceWrapper> & node_wrappers,
-  const rclcpp::Logger & logger,
-  std::shared_ptr<composition_interfaces::srv::LoadNode::Response> response)
-{
-  if (request->node_name.empty()) {
-    return false;
-  }
-
-  const std::string & ns = request->node_namespace;
-  std::string requested_fqn;
-  if (ns.empty() || ns == "/") {
-    requested_fqn = "/" + request->node_name;
-  } else if (ns.back() == '/') {
-    requested_fqn = ns + request->node_name;
-  } else {
-    requested_fqn = ns + "/" + request->node_name;
-  }
-
-  // scan existing nodes
-  auto existing_node = std::find_if(
-    node_wrappers.cbegin(),
-    node_wrappers.cend(),
-    [&requested_fqn](const auto & kv) {
-      // Copy to call non-const method from const reference
-      auto wrapper = kv.second;
-      const auto base = wrapper.get_node_base_interface();
-      return base && base->get_fully_qualified_name() == requested_fqn;
-    });
-
-  if (existing_node != node_wrappers.cend()) {
-    // already exists -> return existing instance
-    response->full_node_name = requested_fqn;
-    response->unique_id = existing_node->first;
-    response->success = true;
-    RCLCPP_WARN(
-      logger,
-      "[LoadNode] Deduplicated : node '%s' already exists. Skipping load.",
-      requested_fqn.c_str());
-    return true;
-  }
-
-  return false;
-}
-} // namespace (anonymous)
 
 ComponentManager::ComponentManager(
   std::weak_ptr<rclcpp::Executor> executor,
@@ -277,11 +221,6 @@ ComponentManager::on_load_node(
   (void) request_header;
 
   try {
-    // check if node already exists in the container
-    if (check_node_duplication(request, node_wrappers_, get_logger(), response)) {
-      return;
-    }
-
     auto resources = get_component_resources(request->package_name);
 
     for (const auto & resource : resources) {

From 1c7ebce01be41866e543a34226a149615360b6ab Mon Sep 17 00:00:00 2001
From: Takahisa Ishikawa <interimadd@gmail.com>
Date: Tue, 13 Jan 2026 11:09:01 +0900
Subject: [PATCH 2/2] Merge pull request #14 from
 tier4/change-composable-node-load-service-qos

feat(rclcpp_components): change load_node service QoS to prevent failure on loading composable node.
---
 rclcpp_components/src/component_manager.cpp | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp
index 036350a64f..cacabd23f5 100644
--- a/rclcpp_components/src/component_manager.cpp
+++ b/rclcpp_components/src/component_manager.cpp
@@ -37,15 +37,19 @@ ComponentManager::ComponentManager(
 : Node(std::move(node_name), node_options),
   executor_(executor)
 {
+  auto qos_profile_keep_all = rclcpp::ServicesQoS().keep_all().get_rmw_qos_profile();
   loadNode_srv_ = create_service<LoadNode>(
     "~/_container/load_node",
-    std::bind(&ComponentManager::on_load_node, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_load_node, this, _1, _2, _3),
+    qos_profile_keep_all);
   unloadNode_srv_ = create_service<UnloadNode>(
     "~/_container/unload_node",
-    std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_unload_node, this, _1, _2, _3),
+    qos_profile_keep_all);
   listNodes_srv_ = create_service<ListNodes>(
     "~/_container/list_nodes",
-    std::bind(&ComponentManager::on_list_nodes, this, _1, _2, _3));
+    std::bind(&ComponentManager::on_list_nodes, this, _1, _2, _3),
+    qos_profile_keep_all);
 
   {
     rcl_interfaces::msg::ParameterDescriptor desc{};