jhdcs

If you put the publishing portion of your `message_demo` into a `while` loop, the subscriber seems to be able to detect it. ```rust while context.ok() { println!("Sending idiomatic message."); idiomatic_publisher.publish(rclrs_example_msgs::msg::VariousTypes::default())?;...

A `ContextBuilder` may not be a bad idea - if we go the avenue of tying signal handling to contexts within #188, a builder would make that process easier. It...

Would we be able to use some crates to help implement this solution (such as `tokio` or `rayon`), or do we want to make this a sort of 1:1 port...

Would benchmarking the creation and sending/receiving of messages with allocated portions (such as Strings) vs trivially-copyable portions (such as i32) be of use? Another thing that _might_ be good to...

> Most of them are related to loading the typesupport library instead. Does this mean that there's potentially a leak in ROS 2? Or am I misreading this?

`rclcpp` appears to achieve this by creating a global signal handler that gets initialized when `rclcpp::init` is called. We do not have a similar `rclrs::init` function that creates a global...

I had actually been looking at the `signal-hook` crate: https://crates.io/crates/signal-hook It would allow us to handle more signals (if needed) than just SIGINT. I'm not sure if that's overkill or...

But then the question in my mind becomes: why didn't `rclcpp` do that? Why did they gravitate toward a solution that uses a single default context, rather than a signal...

> Good question about the use case of multiple contexts. But maybe this should be discussed in a new issue? Perhaps, but it's tangentially related here - if we want...

And where would that live? In the other client libraries, they created a global context to store it.