siteks

I agree that the literature is incomplete in specifying the handling the semantics of executing a complete tree i.e the handling of orphaned running nodes. I look at this in...

@clalancette yes, apologies, reference to [#144](https://github.com/ros/robot_state_publisher/issues/144) was more meant as background to the particular problem I was trying to solve. I'll see if I can work up a PR though....