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It looks like it is a bug (at least still present in October 2020): https://github.com/ros2/rclcpp/issues/731

Below, It is shown a possible workaround. You can just create a "full" new node extending the original node namespace (second parameter).

  auto subnode = rclcpp::Node::make_shared("test", parent_node->get_fully_qualified_name()));
  rclcpp::spin(subnode)