Martin Pecka

Isn't setting 0 enough? I always understood 0 (SERVICE_UNKNOWN) as "cannot tell". Or is there are any real benefit in knowing the the localization source is simulation? Also, beware that...

`/oak/left/camera_info` is zeros when using low bandwitdth mode: ```YAML /oak: ros__parameters: pipeline_gen: i_enable_sync: false i_nn_type: none i_enable_rgbd: true i_pipeline_type: rgbd stereo: i_depth_preset: DEFAULT # uncomment for better performance in RVC2...

Same with OAK-D-SR-POE with `stereotof` pipeline. Even header.stamp is all zeros.

The camera info problem is probably solved by https://github.com/luxonis/depthai-ros/pull/767 .

Hmm, allowing to configure EE is an interesting idea. However, that would require changes on the rclcpp_components side, as the executor is hard-coded: https://github.com/ros2/rclcpp/blob/rolling/rclcpp_components/src/component_container_mt.cpp . An easier path here could...

Thanks, this seems reasonable to me. However, I strongly advocate for a `reference` field which would specify the other frame against which you're measuring. It could be an enum, e.g....