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This turned out to be connected with the known issue of subprocesses from launch having their stdout streams buffered (https://github.com/ros2/launch/issues/188). There is a emulate_tty flag that has recently been added to the ExecuteProcess action that defaults to False. Setting it to True in my launch file (through the Node action constructor) fixes the problem. Eventually it may default to True. (https://github.com/ros2/launch/pull/286)