Grey

> In rclrs, use rosidl_runtime_rs::ActionImpl as a trait bound on actions so that we can access the concrete methods. This is a very interesting idea for how to break the...

I think custom QoS is discouraged for clients and services because there's a significant risk that they'll misbehave if you give them anything other than reliable quality. That being said...

I've opened #427 which introduces an option builder pattern to allow [services and clients to override specific fields](https://github.com/mxgrey/ros2_rust/blob/c46e2abc29da862f0a79dccad25a598852e44c8c/rclrs/src/node.rs#L384-L386) in the default client/service QoS. It applies the same option builder pattern...

We now have the options builder for services and clients merged, which allows users to set their QoS. I believe it would be reasonable to close this PR now.

Ah I believe the panic is killing the thread that the worker is on, but the panic is kept isolated to that thread. We should use `catch_unwind` while processing all...

Even after #419 was merged, the CI for this PR still showed some clippy errors. I've updated and repurposed this PR to get the CI green for the latest stable...

It might be confusing if the CI is inconsistent between the PRs and the daily runs. If someone submits a PR to fix the stable CI, we won't get a...

@esteve Sadly I tried out the matrix idea and discovered that variables cannot be used in the `uses:` input for GitHub actions [[docs here](https://docs.github.com/en/actions/writing-workflows/choosing-what-your-workflow-does/accessing-contextual-information-about-workflow-runs#env-context)]. This seems to be a fundamental...

The vendored version of `builtin_interfaces` that you're using in your diff was a workaround from early in the development of rclrs that shouldn't be needed anymore. It sounds like you're...

> Next time my workspace is borked I'll take a closer look. I've already narrowed the cause of this down to some bad hygiene in the cmake modules of `rosidl_generator_rs`....