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Where do you initialize cbg_ukf_? Should this be cbg_ instead?

cbg_ = node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);   // cbg_ 
rclcpp::PublisherOptions pub_options;
pub_options.callback_group = cbg_ukf_;      // cbg_ukf_

Re. your other question:

is there any option to remove the cbg from the executor / or out of the node again? [...] i think it would be a big effort to expose every cbg which is created to the main function and check if any of them should be removed

I don't understand what you mean by this, and I don't have a lot of experience with node composition, but I think these links could be what you are looking for?

• Component_container_mt: multithreaded compnent container,
• Component_container_isolated: dedicated single-threaded executor per component

In general that whole repository might be worth a look.