CI up to ros2component:

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Ideally, I'd like rclpy executors to support asynchronous code and to have some ROS graph events at hand. For the time being, this will do.

That would be nice, I'm not sure if we don't already have a way to do that.
When c++20 is out, we should add a package with an implementation of an executor using c++20 async programming and cppcoro 😂 .

This is a bit complex ...

I know... But I have to do major surgery in rclpy to do it nicely. And I don't think we have the resources to do that now. I will say though that if rclpy was asyncio friendly, that'd open up interesting development avenues for launch_testing.

That would be nice, I'm not sure if we don't already have a way to do that.

We sort of do, but not really. I can't asyncio.sleep in the coroutines that rclpy executors can process. I spent some time thinking how to do it with the support we do have and I couldn't come up with a decent solution 🤷‍♂️

I'd think this can be backported. If so, I'd backport the deprecation.

I would backport the patch without the deprecation warning. Please add to the Foxy patch release project board if you agree.