Adam Aposhian

It looks like the `ros-galactic-cyclonedds` 0.8.2 package hasn't made it to the apt repo yet, but I have made a draft PR that adds the version dependency for when it...

I think no matter what, this optimization will have to be "opt-in" without doing some serious magic. My first reaction was that users who want/need batching should use `declare_parameters` and...

Can someone explain why you would want a "non-atomic" `set_parameters` or `declare_parameters`? It seems like people would gravitate towards using those by default rather than an `_atomically` version. I would...

Yes, I'm not so much concerned about the "atomic" portion in the sense of whether or not the parameters are applied or not, but that we should be efficient with...

There's nothing to stop you from doing something like this though: ```C++ node->declare_parameters({ rclcpp::Parameter("an_int", 42), rclcpp::Parameter("a_double", 3.14), rclcpp::Parameter("a_string", "default value") }); ```

I don't think this completely solves the parameter event batching issue. Since `__declare_parameters_common` calls `__set_parameters_atomically_common` in a loop, even though the parameter events for parameter declaration are batched together, I...

I will be trying this on humble soon, although I don't have a good self-contained setup to do so, so it will probably be a few days.

Fixing this would go a long way towards reproducing lambda environments for local debugging.

Looks good to me!

Do we want to consider adding this to `MQTTAsync_setCallbacks`? Or do we want to not do that in order to not change ABI compatibility?