Michel Hidalgo

I vaguely recall some discussion about finalization during the `rmw` API review. It is true that allowing double fini'ing simplifies cleanup, but outside that use case, it indicates bogus code...

> how are we going to validate that the changes here make things better? That's the other half of this work. I have yet to put together a benchmark we...

> My idea is to add an `ament_add_mimick_test()` macro in `ament_cmake` instead of here. Hmm, Mimick is rarely used alone. Most tests are GTests that use Mimick. So perhaps a...

> We are going to rarely skip a complete test file though, e.g. this PR doesn't use that. > So maybe we can just go with a macro that's used...

> what sets the value of the global CMake variable? I think much of machinery (to set a variable, to add an option, etc.) could live in `mimick_vendor`. Specifically in...

@bpwilcox could you further expand on a use case for this feature? A node's implementation usually relies on the existence of some parameters, in which case I think they should...

Hmm, https://github.com/ros2/rclcpp/issues/807 suggests a parameter blackboard i.e. not an application-specific node but a generic parameter container. Is that what you had in mind?

There are similarities between this issue and https://github.com/ros2/launch/issues/501. Upon including the root `LaunchDescription`, the `current_launch_file_directory` local [that `ThisLaunchFileDir()` needs](https://github.com/ros2/launch/blob/b59bb6b88b40eaa82870542d93bdfb1a033d05c3/launch/launch/substitutions/this_launch_file_dir.py) is [properly set](https://github.com/ros2/launch/blob/b59bb6b88b40eaa82870542d93bdfb1a033d05c3/launch/launch/actions/include_launch_description.py#L132-L134) but [it is not carried over](https://github.com/ros2/launch/blob/b59bb6b88b40eaa82870542d93bdfb1a033d05c3/launch/launch/launch_service.py#L249) to the...

> IMHO substitutions in an event hander should be evaluated in the context of the parent action. Agreed. > Maybe, we could even eagerly resolve them when registring the event...

@AndyZe I'm unable to reproduce on `master` (and tests fail): CTest output ``` Start 1: test_launch_basic_test.test.py 1: Test command: /usr/bin/python3.10 "-u" "/home/michel/Workspaces/jammy_ros2_ws/install/ament_cmake_test/share/ament_cmake_test/cmake/run_test.py" "/home/michel/Workspaces/jammy_ros2_ws/build/minimal_integration_test/test_results/minimal_integration_test/test_launch_basic_test.test.py.xunit.xml" "--package-name" "minimal_integration_test" "--output-file" "/home/michel/Workspaces/jammy_ros2_ws/build/minimal_integration_test/ros_test/test_launch_basic_test.test.py.txt" "--command" "ros2" "test"...