William Freidank

While we wait for a proper resolution that everyone accepts, I've forked this package and attempted to incorporate a hotfix/workaround suggested by https://github.com/ament/ament_cmake/issues/514#issuecomment-2143488871. https://github.com/teapfw/audio_common/tree/humble_hotfix

Thanks @mgonzs13 for the boilerplate. I required this feature for a project and added it to [my fork](https://github.com/teapfw/yasmin/tree/teapfw-concurrence), modelling it off of Smach's interface for concurrency. I've only written the...

Thanks for taking a look and for your suggestions. Why do you say it is not a good idea to use the state class name for building the outcome map?...

I have not considered the C++ side extensively, but I've modified the way the concurrent states are mapped to be more robust and added a test for verification. The class...

Yes, I've run the pytest I wrote for it if that's what you mean, and confirmed the states run in parallel. Using a separate method is another option indeed, but...

I've added a C++ implementation and demo to my branch: https://github.com/teapfw/yasmin/tree/teapfw-concurrence-cpp. I may have overlooked some slight differences between it and the Python version. If all looks well @mgonzs13, I...