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                                            outrider-jhulas

High CPU when subscribing to parameter_events with Discovery Server

### Is there an already existing issue for this? - [X] I have searched the existing issues ### Expected behavior Subscribing to the `/parameter_events` topic while using Discovery server shouldn't...

triage

feat: add latching ros1 pubs

Currently a topic on ros2 side with `transient_local` QoS will be published as a non-latching topic on the ros1 side, which can lead to undesired behavior. This PR proposes to...