Currently if a ROS 2 subscription gets activated multiple times within the same workflow session, it will create two separate subscriptions to the same topic and stream messages out of both of them. The messages are guaranteed to be redundant with each other.
Instead we should follow what was done for the zenoh subscription implementation---use a buffer to track whether subscription is active, and only activate the node if it's inactive.
Currently if a ROS 2 subscription gets activated multiple times within the same workflow session, it will create two separate subscriptions to the same topic and stream messages out of both of them. The messages are guaranteed to be redundant with each other.
Instead we should follow what was done for the zenoh subscription implementation---use a buffer to track whether subscription is active, and only activate the node if it's inactive.