Self test publishes the service under the node name, again

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I am not sure if this is supposed to work. But the original ROS1 wiki indicated that there will be service called self_test per node. I can not see how the code will call them. If I run the code as it was on rolling, there will only be one self_test service that will be called. Advertising this same service from multiple nodes obviously doesn't work.

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To document it here: I found out that the current ros2 implementation differs from the one in ros1. In particular, I compared noetic-devel @ 12ba2ee to rolling @ 12ab006.

ROS1 did create a service under [NODE_NAME]/self_test and you could perform the self_test with run_selftest [NODE_NAME].
On ROS2, the advertised service is not under the node's namespace, but simply called self_test and also the run_selftest command does not take an argument. This works as long as there is only one node that advertises this service, but not with multiple nodes that implement a self test.

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Hi @trainman419 @bricerebsamen @Karsten1987
Could you please comment on this, why the API did change like that for ROS2 in the first place?
This change tries to recreate the API as it was in ROS1, because I think it makes more sense like this.

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Friendly ping @trainman419 @bricerebsamen @Karsten1987

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most important change here ...