Niklas Spielbauer

Potential Libraries: * NavPi * MoveIt * MoPi * Pose Utilities

This does mean an option + optional option of the same name in one node

It is unclear how/what a optional_option actually does right now -> Further discussion needed

Optional Options do not really make sense. We should change this to align with #23

https://github.com/ros2/rclpy/issues/1142 https://github.com/ros2/rclpy/issues/1206

Seems to be "fixed" with checking `rclpy.ok()` before publishing tree info. But this is not a viable solution. Also rclpy should be okay while shutting down the BT

What exactly are we looking at here? Do we want to look through all nodes or rather find a naming scheme and then apply it. For the Repeat stuff: Do...

I thought it might make sense to go through all existing nodes and identify Names that need changing. During that I realized that we also provide a lot of nodes...

@Oberacda I would love some input on this

These have been reworked in #100 still need better tests tho