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Executor onboarding

I was hoping to take a look at seeing what I can do to help optimize the executors in ROS 2, as part of the Galactic push. However, I feel like I need a little bit of a better handle on how they work now, so as to optimize them most effectively.

Are there any resources available on the current functioning of the executors? Also, would the Middleware Working Group be the team to coordinate with on this?

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