ewak

@SteveMacenski fixed the lint and test. This change requires the Bond to be created as a shared_ptr.

See https://github.com/ros/bond_core/pull/108 for changes that use enable_shared_from_this to ensure valid lifetime of the member function subscription callback. I also commented on https://github.com/ros2/rclcpp/issues/2678#issuecomment-2585146308 suggesting that a helper function like createSafeSubscriptionMemFuncCallback() could...

I'll have a go at explaining what I currently think for each of your points, > 1. Here in Nav2, I'm seeing that the issue is resolved by only `breakBond()`...

@SteveMacenski looking for a sanity check. Do you expect a single threaded executor that has a single simple/plain lifecycle node, i.e does nothing but log its various state changes, to...

So I went deep on launch_testing (https://github.com/ros2/launch/blob/rolling/launch_testing/launch_testing/legacy/__init__.py) and found out how tests shutdown things. Long story short they wrap event handling around the test process ie `RegisterEventHandler(OnProcessExit( ... EmitEvent(event=Shutdown(... etc`...

> CI seems to pass now with shutdown on all the system tests! I'm going to re-run again 1-2x more just to make sure its consistent, but that's a big...

> > On the docking changes, mind doing that on the `main` branch as well? We can merge that in and fix that flaky test while we're pending in rclcpp's...

> Some other thoughts: > > I remember chatting about this back when the plugins list for BT Navigator had the libraries stored in a similar way (as you've found...

It's ready from my end.

Sorry, @ewak == @aosmw. I am currently between jobs (Melbourne, Australia for anyone interested). Going forward will just use my own account/identity. I can still push to the aosmw PR...