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I believe you understand the way we intended for it to work.

Unfortunately at the moment the API is not completely there for how we'd like it to work. We've ticketed the upgrade needed to the API on rclcpp here: https://github.com/ros2/rclcpp/issues/519

There is potentially a hack to create another node and add things to it. But we'd want to get rid of that as soon as #519 above is resolved.

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