Achille Verheye

@clalancette Could you take another look? Looks like CI passed.

@fujitatomoya or @mr337 want to check that this isn't lost as this is pretty critical functionality.

@fujitatomoya Since Foxy is still actively supported for another month, could we consider backporting that distribution too? In the meantime, while not ideal, you could monkeypatch the function as follows...

> if foxy is only supported for another month, that means you still support galactic for a while too. That's [not the case](https://docs.ros.org/en/rolling/Releases.html) given Galactic is not an LTS like...

@jdlangs good find. Do you have a suggestion for a solution that fixes this case?

@samiamlabs Using a ReentrantCallbackGroup with a SingleThreadedExecutor has no effect. Using a MultiThreadedExecutor doesn't play well with asyncio. Additionally, if you recreate the callback group each time (which happens because...

I was not aware that using a `ReentrantCallbackGroup` would work! Thanks for pointing that out. I also didn't notice the `self.timer.cancel()` part. I don't think recreating the callback group here...

@sloretz Do you still see this approach as the best way forward? It would be helpful to know what the best approach is to marry `asyncio` and `rclpy` as there...

I'm still getting this error sporadically on the MX-64s. @130s I don't see how that commit is related, did you do anything else to fix this?

The problem is definitely with the hardware connections. We were able to replicate DroppedPacketErrors by wiggling the 3-pin wires between individual motors. This could also be seen by looking at...