Hello @pablogs,
I am a colleague of @Trab40 also working on the micro-ros implementation. First of all, thanks a lot for taking our feedback into consideration. We think that the solution that you came up with is a good way to have more insights into the communication by implementing that timeout with the HARD_LIVELINESS_CHECK and by being able to check that the micro-ros agent is still running. We are excited to test this once it is ready!
As you said that the check must be enabled by means of a CMake argument in the micro-ROS Client we were wondering how exactly this will be possible using the microros arduino library?
Furthermore, we think that it would also add value to the micro-ROS agent if it was possible to log the information that the agent is currently only printing to the terminal using the ros2 logger. Let us know what you think of this suggestion!
Thanks!