We are currently using the "old" way of creating a node in https://github.com/osrf/ros2_serial_example/blob/master/src/ros2_to_serial_bridge.cpp#L216; that is, we create the node, then do operations on the node. The new, composable way to do things is to create a class that derives from rclcpp::Node and then does all of the operations internally. We should rewrite things to the latter method as it will make our node composable down the line.
We are currently using the "old" way of creating a node in https://github.com/osrf/ros2_serial_example/blob/master/src/ros2_to_serial_bridge.cpp#L216; that is, we create the node, then do operations on the node. The new, composable way to do things is to create a class that derives from
rclcpp::Nodeand then does all of the operations internally. We should rewrite things to the latter method as it will make our node composable down the line.