Cannot run Demo simulation with ASLR disabled

[tomsonlee13]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

I am do a research project where I need to disable ASLR for the system. After disabling ASLR, the autonomous mode is not available. After checking the /api/system/diagnostics/status, it appears that one of the node name is duplicated and thus the duplicated_node_checker raised an error. Particularly, a transform_listener_impl_* node under /perception/object_recognition/detection/

Expected behavior

A few transform_listener_impl_* nodes should have different names such as:

/perception/object_recognition/detection/transform_listener_impl_556c770868f8
/perception/object_recognition/detection/transform_listener_impl_5a23701bb8f8
/perception/object_recognition/detection/transform_listener_impl_5f3ad7899218
/perception/object_recognition/detection/transform_listener_impl_635e001e2d80

Actual behavior

One of the node name is duplicated (transform_listener_impl_5555555898f8):

/perception/object_recognition/detection/transform_listener_impl_5555555898f8
/perception/object_recognition/detection/transform_listener_impl_5555555898f8
/perception/object_recognition/detection/transform_listener_impl_555555593d80
/perception/object_recognition/detection/transform_listener_impl_555555594218

- level: "\x02"
  input_level: "\x02"
  message: 'Error: Duplicated nodes detected[/perception/object_recognition/detection/transform_listener_impl_5555555898f8], '
  hardware_id: duplicated_node_checker
  values:
  - key: Duplicated Node Name
    value: /perception/object_recognition/detection/transform_listener_impl_5555555898f8

Steps to reproduce

1. Disable ASLR through kernel variable (randomize_va_space) or simply run: setarch $(uname -m) -R ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=/home/$(whoami)/autoware_map/shinjuku_map/map/, (using setarch $(uname -m) -R).

Versions

• OS: Ubuntu 22.04.5 LTS (Jammy Jellyfish)
• ROS2: Humble
• Autoware: main

Possible causes

No response

Additional context

Though I am not 100% sure this is the issue, however this is the only error that I could find related to the problem.