cmraaron

This looks like a really useful PR, but is it held up because of documentation requirements? If so, perhaps it can be split in two. One PR to refactor so...

Interesting, is there another way you could construct the tree with the existing set of action, condition, control and decorator nodes that would achieve the same logic? How convoluted would...

> There is a reason why `ConditionNode::halt()` is final. > A Condition is, by definition, always Synchronous, NEVER asynchronous. I.e., it can not be in the RUNNING state. So if...

Could let the user decide? `` vs `` Some room for improvement on those policy names Or perhaps different node names but that could grow rather quickly

Yes! That sounds ideal. Either with REUSE, which could then indicate if something was missing, and it would be the callers responsibility to tear everything down and try again. Or...

Hey, I have this a go. Looks like it prefixes the dds topic, eg `rt/imu_data` and becomes `remapped_ns/rt/imu_data`, but should be `rt/remapped_ns/imu_data`. Also `add_datareader` needs to be remapped for Subscriber...

> ah, yes, I should have said, sorry. I applied your commit to `galactic` branch

> Can you test it on humble? I remember that when I tested it it was working properly... But probably it needs a rework. ok, I just built on humble....

hmm, even with the `/rt/` prefix the topic still appears as original. Looks like this is coming from the running `xrce_dds_agent_instance_` as even with all callbacks turned off `ros2 topic...

status: works for me :+1: