Use a dedicated callback group instead of a separate node in TfBuffer#52
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TfBuffer created its own internal node ("_tf_listener") with a dedicated
executor/thread to keep TF flowing while the host node's executor is busy.
But spawning a second node is an anti-pattern: it shows up in the ROS graph,
inherits the global __node remap (causing duplicate-name collisions), and
limits TfBuffer to one instance per host node.
Instead, create the /tf and /tf_static subscriptions on the host node under a
dedicated MutuallyExclusive callback group (automatically_add_to_executor_with
_node=false) and spin only that group on TfBuffer's executor/thread via
add_callback_group. This mirrors tf2_ros::TransformListener(spin_thread=true),
keeps the same thread isolation, and removes the extra node entirely.
Claude-Session: https://claude.ai/code/session_01G4qmUwoQhFyHf6v2HgkeTf
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TfBuffer created its own internal node ("_tf_listener") with a dedicated executor/thread to keep TF flowing while the host node's executor is busy. But spawning a second node is an anti-pattern: it shows up in the ROS graph, inherits the global __node remap (causing duplicate-name collisions), and limits TfBuffer to one instance per host node.
Instead, create the /tf and /tf_static subscriptions on the host node under a dedicated MutuallyExclusive callback group (automatically_add_to_executor_with _node=false) and spin only that group on TfBuffer's executor/thread via add_callback_group. This mirrors tf2_ros::TransformListener(spin_thread=true), keeps the same thread isolation, and removes the extra node entirely.