This PR contains changes in node and publisher creation and destruction. Other changes in subscription, service and client are either temporary or incomplete, that are not in the scope of this PR review since they are made simply for compiling and testing the node and publisher at this point.
Fixes (Trello link here OR reason to fix if not on Trello)
Type of change
Bug fix (non-breaking change which fixes an issue)
This PR contains changes in node and publisher creation and destruction. Other changes in subscription, service and client are either temporary or incomplete, that are not in the scope of this PR review since they are made simply for compiling and testing the node and publisher at this point.
Fixes (Trello link here OR reason to fix if not on Trello)
Type of change
Bug fix (non-breaking change which fixes an issue)
How Has This Been Tested?
Inspection and system tests.