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I think this is pretty well covered by the documentation of ServiceProxy.

To avoid duplicating content I'm referring you to my answer to #q108256.

The key here is persistence. Both of the object as well as the connection.

I think this is pretty well covered by the documentation of ServiceProxy.

To avoid duplicating content I'm referring you to my answer to #q108256.

The key here is persistence. Both of the object as well as the connection.connection. Persistence impacts both performance as well as rosbustness.

I think this is pretty well covered by the documentation of ServiceProxy.

To avoid duplicating content I'm referring you to my answer to #q108256.