samouwow

Circling back to this issue as I think it should block part of #65. First some context. The workaround I found for this issue was simply to not use the...

That's a very good point about `restart()` handling running nodes, and kind of ironic that I missed it given the amount of work I've just put into how the rest...

Thanks for the quick merging of that first PR. Main still isn't building on my machine, is it building for you?

I've opened an issue with the cargo output of the failing build to avoid polluting this issue. Please see #68

@Guelakais thanks for the example, are you suggesting I use a standard publisher instead of a client as a workaround for custom QoS? > Ah. Hang on, wait a minute....

@Guelakais I believe I've achieved it with only minor changes to the rclrs client/server code. All that really needed to happen was to connect an API to the rcl QoS...

@esteve thanks for the quick response. As best I can tell both [rclpy](https://docs.ros2.org/latest/api/rclpy/api/node.html#rclpy.node.Node.create_client) and [rclcpp](https://docs.ros.org/en/rolling/p/rclcpp/generated/classrclcpp_1_1Node.html#_CPPv4I0EN6rclcpp4Node13create_clientEN6rclcpp6ClientI8ServiceTE9SharedPtrERKNSt6stringERKN6rclcpp3QoSEN6rclcpp13CallbackGroup9SharedPtrE) have an API to provide a custom QoS when creating clients and servers, this PR...