Kenji Brameld

This issue has been mentioned in a [Discourse Post](https://discourse.ros.org/t/msg-type-for-publishing-jointcommands/22451)

I'm guessing we're up to step 3 from the previous comment. I've prepared step 4: https://github.com/ros-perception/image_pipeline/pull/761 It'll also be nice to delete the ``rolling-rebase`` branch, I don't know what that...

@JWhitleyWork With up to step 4 being completed, could you consider deleting the ``ros2`` branch to prevent further branch diversion?

@JWhitleyWork Thanks for reviewing! Would you be able to merge these changes in?

@JWhitleyWork gentle ping

The **Efficient Intra Process Communication** guide seems heavily outdated, it mentions that unique_ptr is the only way to achieve zero-copy intra process comms, but there's been major improvements and shared_ptrs...

@clalancette I believe the code itself is correct (works), but the demo itself is missing some important points that have changed due to PRs that were merged since the article...

Could you help me write out all the states and transitions? The controller lifecycle seems slightly different to the [ROS 2 Node Lifecycle](https://design.ros2.org/articles/node_lifecycle.html). Refering to https://github.com/ros-controls/ros2_control/blob/94d1e9a9f07c92094992d26c44ac8d9e0a3c9103/controller_manager_msgs/msg/ControllerState.msg#L2 the states available are:...

Thanks @destogl and @erickisos for the reviews! I wasn't quite finding the time to address the suggestions, so I appreciate you going through them @destogl, thanks .

As long as they're tracked in an issue, I'd prefer separate issues so others can perhaps take-on the tasks.