Hi, We have an issue that during the micro-ros agent and client connection some of the entities (pub/sub) are not created, therefore part of the micro-ros messages (pub/sub) are not available (dead). We would like to have a way to react this situation and execute an entity creation retry. Is there a way to do that? We read about the HARDLIVELINESSCHECK and added this to our micro-ros Arduino as described here https://discourse.ros.org/t/our-conclusions-on-trying-to-implement-micro-ros-in-our-robot/24690/4 this change gives us more LOG information, but the entities creation not improved. When we tried to create the entities in "blocking" mode as described below

• Under microxrcedds_client change the following values:

  • "-DUCLIENTMAXSESSIONCONNECTIONATTEMPTS=3",
  • "-DUCLIENTMINSESSIONCONNECTIONINTERVAL=100"

• Under rmw_microxrcedds

  • Replace: "-DRMWUXRCEENTITYCREATIONDESTROY_TIMEOUT=0",
  • With: "-DRMWUXRCEENTITYCREATIONTIMEOUT=1000", "-DRMWUXRCEENTITYDESTROYTIMEOUT=1000",

This mode solved the issue, but using this mode force us to stop the other tasks which we don't want. Do you have any other way of partially "blocking" that we can get the entities creation status without blocking the other tasks? Thanks