Tomoya Fujita comments

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                                            Tomoya Fujita

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Able to spin nodes in 1 or 2 threads, but not 3+ but only for rclpy.spin(). executor.spin() works properly.

> Sounds like self.executor within rclpy needs to be an internal self._executor to remove that kind of collision potential from user-space code. this sounds reasonable to me. but not sure,...

Able to spin nodes in 1 or 2 threads, but not 3+ but only for rclpy.spin(). executor.spin() works properly.

looking again at the current implementation weakref is intentionally used to avoid circular reference, probably example code is not good. any thoughts? > In rclcpp, each call of spin() instantiates...

Make Optional things Optional

+1 great effort 👍

Fix race condition between cleanup in executor shutdown and _wait_for…

@llapx why are we closing this PR?

Deal with ParameterUninitializedException for parameter service (backport #1033)

> Current fixing code is very simple. Is it necessary to re-write new code for Humble and Galactic? i would say let's do that. i think it would be better...

Deal with ParameterUninitializedException for parameter service (backport #1033)

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