KKSTB

Barline Timing

1

**Describe the issue** I have a score with variable tempos in the middle. The barlines start to misalign after tempo change. However I can see the barlines are correctly aligned...

Topics Crosslinked When 2 Similar Robots Viewing Each Other's /tf

4

I have made 2 similar robots connected to each other using multimaster. I used `topic_tools` `relay` to copy the required topics (e.g. `/tf`, `/tf_static`) to another topics (e.g. `/robot1/tf`, `/robot2/tf`)....

MultiThreadExecutor may throw exception after destroying subscription with non-default callback group

4

## Bug report **Required Info:** - Operating System: - Ubuntu 22.04 - Installation type: - binaries - Version or commit hash: - ros-iron-rclpy/jammy,now 4.1.4-1jammy.20231117.092234 amd64 - DDS implementation: - Cyclone...

Feature Request: LaunchService wrapper for easy non-blocking launch and shutdown

5

## Feature request #### Feature description `LaunchService` has puzzled many people as to how to properly launch a `LaunchDescription` without blocking the main thread: https://github.com/ros2/launch/pull/210 https://answers.ros.org/question/321118/ros2-nodes-occasionally-dying-using-launchservice-in-a-subprocess/ https://github.com/ros2/launch/issues/126 So I propose...