ElSayed ElSheikh

Notes: [PointCloudTransport SubscriberFilter](https://github.com/ros-perception/point_cloud_transport/blob/9fedca3d931346e3de8cc13aaa9e31deab540e0e/point_cloud_transport/include/point_cloud_transport/subscriber_filter.hpp) - doesn't have `resubscribe()` method so on Lifecycle activation, it needs to be re-initialized with arguments. - inherits from `message_filters::SimpleFilter` not `message_filters::SubscriberBase` which don't share common base...

@SteveMacenski Any notes about re-initializing the subscriber in `activate()` method ? If this implementation looks good, I’ll stick with it for the other plugins too. LMK your thoughts! Thx

@SteveMacenski Hey Steve, Can you have a quick look on my implementation? The build is fine with `point_cloud_transport` source, waiting for the next release to update the binaries with the...

> @elsayedelsheikh thanks for taking this on! My Pleasure, I was waiting for this :-) > It might be nice to change the Transport code to have this constructor be...

> It might be good to consolidate a list of 'wants' and 'proposed changes' and file a ticket with me CCed in it in PC2 Transport for us to discuss...

> This ready for a review again? Yeah, I tested the new signatures and it works fine! I didn't change the PR status till I get the other parts done...

> Generally approved! Are we just waiting on the PC transport code to be released into binaries? I've just updated `nav2_collision_monitor`. We're ready to merge whenever PCT is released

> @elsayedelsheikh check out uncrustify failures to fix please! Also the documentation update PR would be dandy - Done here ✅ - Moving to docs PR!

@SteveMacenski Jazzy/Kilted jobs Passed :white_check_mark:

> I also see CI failing very oddly. I just retriggered it but if we fail in a similar way again, we may need to look into it. After rebasing...