[Bug] Duplicate Publishes of Messages When Repeatedly Subscribing / Advertising

[Carter12s]

Describe the bug

There appears to be a bug in how subscriptions / publishers are cleaned up that can allow duplicate zenoh subscriptions for a single topic to be bridged.

duplicate_messages_v2.mp4

Following the exact steps in the README.md tutorial, but repeatedly killing and restarting rostopic pub and rostopic echo in different orders results in a growing number of duplicate messages showing up per publish. The growth appears unbounded.

To reproduce

1. Start a bridge on ROS_MASTER_URI 1
2. Start a bridge on ROS_MASTER_URI 2
3. Start a rostopic pub on 1
4. Start a rostopic echo on 2
5. Kill both rostopic commands
6. Start a rostopic echo on 2
7. Start a rostopic pub on 1

Repeating 5-7 and swapping the order in which the commands is run appears to ocassionally but reliably result in multiple zenoh connections being established and multiple copies of the message appearing on the echo side.

System info

Ubuntu 20.04
zenoh-ros1-bridge install from apt: Version 1.0.0-beta.2-1
ROS1 noetic