feat: enhance destroy_subscribers behavior

[maciejmajek]

Purpose

Sometimes, destroying the subscribers lead to crash of the node/executor. An effort has ben made to allow persistent subscribers.

Proposed Changes

Enhances the logic behind handling destroy_subscribers in ROS2TopicAPI
ROS2ARIConnector docstring

Issues

• Links to relevant issues

Testing

from rai.communication.ros2 import ROS2ARIConnector
from rai.tools.ros2 import ReceiveROS2MessageTool
import rclpy
import time
import subprocess

rclpy.init()

proc = subprocess.Popen(["ros2", "topic", "pub", "topic", "std_msgs/String", f"data: 'Hello {time.time()}'"])

connector = ROS2ARIConnector(destroy_subscribers=True)
tool = ReceiveROS2MessageTool(connector=connector)
try:
    for i in range(10):
        msg = tool.run(tool_input={"topic": "topic", "timeout_sec": 2.0})
        print(msg)
finally:
    connector.shutdown()
    rclpy.shutdown()
    proc.terminate()

[rachwalk]

LGTM and makes sense - good job; I have some comments regarding docstring for ARIConnector, merge after applying them.

[rachwalk]

I think this line should be moved to notes and expanded upon. "It has been observed.... may", do you know anything more about this behaviour?

[maciejmajek]

Expanded note

[rachwalk]

Suggested change

	_node : Node
	The ROS2 node instance.
	_topic_api : ROS2TopicAPI
	API for handling ROS2 topic operations.
	_service_api : ROS2ServiceAPI
	API for handling ROS2 service operations.
	_actions_api : ROS2ActionAPI
	API for handling ROS2 action operations.
	_tf_buffer : Buffer
	Buffer for storing TF transforms.
	tf_listener : TransformListener
	Listener for TF transforms.
	_executor : MultiThreadedExecutor
	ROS2 executor for running the node.
	_thread : Thread
	Thread running the executor.
	tf_listener : TransformListener
	Listener for TF transforms.

Protected and private Attributes should not be listed in the docstring documenting the classes public API. If any of these should become part of the public API please remove the _ prefix.

[maciejmajek]

renamed tf_listener, to _tf_listener, as there is no need to expose the listener.
removed Attributes section of the docstring