Esteve Fernandez

@mxgrey sorry it took so long, can you fix the conflicts? Now that rclrs 0.5.0 is out, we can merge this soon. Thanks.

@jhdcs I hope it's ok with you, I'll merge this PR. Given the US government shutdown, that @jhdcs can't work on `ros2-rust` during the shutdown, and that @mxgrey has addressed...

That's a cool idea, but out of scope for `rclrs`. There are however, already several projects that might be useful for this usecase. @IsabelParedes gave a talk about her projects...

> At best the downstream user of rclrs would have to implement a feature flag in their own application and manage interfacing with two different libraries depending on whether or...

> If rclrs supports rosbridge directly then everything becomes much easier for users and has better performance. It having better perfomance is debatable, given that the rcl and rmw layers...

> If we were to perfectly align with the ideology that you're describing, I suppose the "right" thing to do would be to implement a rmw_rosbridge where we make an...

@mxgrey I still think this is a cool idea, just that it doesn't belong in rclrs. In any case, we could move common structs and functions into a separate crate...

@liuXinGangChina is this PR ready for review?

@xmfcx I found this about using Kubernetes to ensure a singleton instance: https://medium.com/@fahed.dorgaa/kubernetes-singleton-pattern-84a88a06727a And this for integrating Kubernetes with ROS 2: https://github.com/fujitatomoya/ros_k8s Hope this helps, let me know if I...

@xmfcx yeah, for something like this,, Kubernetes is overkill, I thought it was more about making sure that nodes in a distributed system were only instantiated only. But if it's...