"I don't agree they have done this for the publicity and a claim for compensation"
It seems more complicated than that to me. And I'm not sure there's actually any convincing evidence for your assertion, either.
The way it looks to me is that they were asked to stop, then did, then presumably without thinking it would cause another breach, one gave the other a quick kiss as he was about to leave, and was reproached again.
The incident is covered in more detail here:
http://www.bbc.co.uk/...gland-london-13087715