[Bug] Duplicate messages when receiver side is restarted

[cesurs]

Describe the bug

Each time the bridge on the subscriber side is restarted the number of duplicate messages increases by 1.

To reproduce

1. Start zenoh bridges on 2 devices.
2. On one of them start talker node
3. Echo topic on the subscriber side to see only 1 being received.
4. Shutdown receiving sides bridge and start a new one
5. Now topics come 2 at a time
6. Each time steps 4-5 are repeated number of topics being received increases

System info

Ubuntu 22.04 with Humble. Zenoh bridge 1.6.2 on docker.

[cesurs]

Further info:
I can reproduce the issue consistently on a single amd64 device with ubuntu 22.04 using these steps:

1. Open a zenoh bridge with domain id 1
2. Start a demo_nodes_cpp talker node with domain id 1
3. Open a zenoh bridge with domain id 2
4. Start a demo_nodes_cpp listener node with domain id 2
5. Close the zenoh bridge with domain id 2 and the talker
6. Restart both
7. Now each topic is being published 2 times
8. Re-do the step 5 and 6 as many times as you want. Each time number of topics being published increases by 1
9. ros2 topic info -v shows subscriber count keeps increasing each restart. nodename: _NODE_NAME_UNKNOWN

I tried downgrading my version to 1.5.0 and the duplicate message issue seems to be gone but the subscriber counts still increase.

[fan-ziqi]

+1 service/client

[benedikt-sei]

+1

[guiboro83]

Same issue with service server : every time the service server restarts, a new service is created on client side.

To reproduce :

1. Start Zenoh bridge on domain id 1
2. On domain id 1, start a service server
3. Start Zenoh bridge on domain id 2 (connected to the first one)
4. On domain id 2, run ros2 service info my_service : you should get Service count: 1
5. Stop and restart the service server
6. On domain id 2, run ros2 service info my_service : you should get Service count: 2
7. Repeat step 5. Each time, the service count increases by 1

The bug is present in versions 1.7.1 and 1.6.2, but not in 1.5.1.