Fixing O(N²) Entity Addition in ROS 2's CallbackGroup
How a simple erase-remove in every add_timer() call turned entity registration into a quadratic bottleneck — and the 71x speedup from moving cleanup to the right place.
ROS 2
Contributing to ROS 2 — A Practical Guide from Four Accepted PRs
Everything I learned submitting four pull requests to ROS 2 core repositories — from finding issues and building in Docker to passing DCO checks, handling OSRF’s AI disclosure policy, rebasing across distro branches, and running the full test suites. A warts-and-all field guide.