Shane Loretz

All tests passed this time! 🎉 @veblush & @gnossen may I ask for a review?

@MiguelCompany Friendly ping. Would you be willing to address @fujitatomoya's feedback?

@fujitatomoya would you be willing to summarize this PR, close it, and open a discussion issue on ros2/ros2? 🧇

If I understand correctly, when components are loaded the parameters/remap rules/ros args are passed into the node via NodeOptions. See here where the `NodeOptions` are created: https://github.com/ros2/rclcpp/blob/7901bb9da4e1addf71a307230afa60bd8d72f4f6/rclcpp_components/src/component_manager.cpp#L238 Outside of NodeOptions,...

> are you suggesting that in the scenario that @SteveMacenski outlined, we could call get_node_options on the PlannerServer, and then feed that NodeOptions object when constructing the Costmap2D? Pretty much....

[Holding for Iron sync](https://discourse.ros.org/t/preparing-for-iron-patch-and-sync-2024-04-22)

@kilocharlievictor This doesn't seem related to this issue. Please ask a question on https://answers.ros.org, and when you do please copy/paste the text from the terminal instead of taking a screenshot...

If I understand correctly I think there are two bugs. One here, and one in the Python API. * The expire timeout [is being calculated from the time the goal...

> While goal processing time is very short (just send goal accept to client), client doesn't send goal result to service. Current implementation must get the response of goal accept...

Noetic targets Ubuntu 20.04. Is this in support of building Noetic from source on 22.04?