AiVerisimilitude

@roncapat Current subscribers are not really touched, I only added a new way to get one that is type adapted which is based on rclcpp::Subscriber directly. And yes, you are...

Marking the constructor of ```rclcpp::Time``` that takes a ```builtin_interfaces::msg::Time``` would also fix it, since the issue stems from the different conversion options given by ```rclcpp::Time```. In C++20 the ambiguity comes...

> correct, this breaks the user application. IMO, this is the way to notify the user application that explicitly specify the clock source when they are creating rclcpp::Time object from...

This would be my new proposal given the discussion so far. 1. I've made the constructor of ```rclcpp::Time``` from ```builtin_interfaces::msg::Time``` explicit. This means there is no longer any implicit conversion...

There has been a new version of this PR pushed for a while. I've re-requested a review, but not sure if I did it correctly since it's been a while...

@wjwwood friendly poke for review feedback

What is the status for review here? If there are any issues, just let me know what these are or if a larger discussion is needed, where to have it....

@qpicard I have started using this PR. One suggestion would be to use default parameters for parameters whose empty values are acceptable values, for example: username, password, use_encrypted_password, camera, etc....