So I'm having issues whereby if create a subscriber, then I create a publisher and call publish() onto the same topics using the same node I will hit a deadlock. The fix I know of is to make a separate executor and add nodes to it ala this commit:

moveit/moveit2@a0c5c9c

This should be considered a workaround.

And also from this old PR: #197 it seems there was a ros_abstraction function that added nodes to the executor but it was removed. Perhaps it's time to put it back in?

I've also noted that we use a SinglethreadedExecutor that spins in a update function at 100ms. This essentially impacts response timings. Perhaps we should use a MultithreadedExecutor and spin it on a thread?