Christoph Fröhlich

https://github.com/gazebosim/gz-physics/issues/124 was fixed but not implemented in gz_ros2_control. Happy to review PRs.

> @christophfroehlich #186 has an implementation. Is it not complete? I forgot about that PR tbh. But the author did not respond to the requested changes.. Maybe someone can help...

Seems to be fixed with #92 and #128

A little off-topic but relevant here: Is there any documentation about the lifecycle implementation within ros2_control which I couldn't find? Up to now it was not clear to me that...

This is outdated and replaced by a newer implementation on rolling/jazzy.