AI Summary: This issue addresses lock contention in `ConfigurationManager` by suggesting a refactoring of I/O operations. Currently, a mutex is held during blocking network calls like `wait_for_service` and `async_send_request`, which can lead to performance degradation. The proposed solution involves copying necessary data under the lock, releasing the lock before performing I/O, and then re-acquiring it if state updates are required.
ros2_medkit is a ROS 2 Jazzy diagnostics and remote operations toolkit with SOVD style REST API. Runtime discovery, introspection, faults, secure access.