Jacob Perron

@emersonknapp We added some CMake magic to help build standalone executables from node components (https://github.com/ros2/rclcpp/pull/784). [For example](https://github.com/ros2/demos/blob/ed0299dc808f94b3c995dd4530680560e07226ff/demo_nodes_cpp/CMakeLists.txt#L81-L83), `demo_nodes_cpp` takes advantage of it: ```cmake rclcpp_components_register_node(timers_library PLUGIN "demo_nodes_cpp::OneOffTimerNode" EXECUTABLE one_off_timer) ``` Basically,...

Considering the extensible nature of launch, maybe it makes more sense to create a specialized package, `launch_rclcpp_components`, that provides this specific functionality using the container provided by `rclcpp_components`.

@kenji-miyake Certainly, what you have is a good start (kenji-miyake@8daecd8). I would accept that in a pull request on its own. Regarding exposing events and event handlers (etc) in the...

Re-opening since the feature isn't supported.

Note that the backport ros2/launch#567 inadvertently broke behavior of front-end launch files (reported in https://github.com/ros2/ros2/issues/1244). I'm considering reverting the backports. Although the error messages are nice to have, I think...

Yeah, I'd rather see examples of people using `TimerAction` to accomplish this task and we can later consider adding a utility (or simply an example) to launch as common patterns...

If I understand the request, you are looking for a shortcut to do the following: ```python import launch from launch.actions import EmitEvent from launch_ros.actions import LifecycleNode from launch_ros.events.lifecycle import ChangeState...

I expect that actions and events in launch are processed synchonously, however I think you're correct that it's possible the lifecycle node processes, running asychonously, may not be ready to...

Any suggestion for what we could do in launch to workaround the known issue?

I guess this affects Galactic (and maybe Humble) too, since they are also using Python 3.8 afaik.