added in seperate topic for contious updates

[redto0]

No description provided.

[redto0]

@andyblarblar can you review and merge if your happy with this?

[andyblarblar]

Are kill states actually readable yet? Seems fine otherwise

[andyblarblar]

Also by ros convention services are probably a better fit for setting a persistent state

[redto0]

@andyblarblar
To my knowledge, they aren't .😭 I left it in in case that becomes a thing later. It shouldn't affect the code if it isnt being used, its just there if it that happens later as an extension of the lock out toggle.

tbh I didnt look into using a service for this. What would that entail?

[MarkPopkov]

Also by ros convention services are probably a better fit for setting a persistent state

I disagree on using services, to quote the ROS2 Docs:

In ROS 2, services are expected to return quickly, as the client is generally waiting on the result. Services should never be used for longer running processes, in particular processes that might need to be preempted for exceptional situations.

It recommends actions for longer-running things, something we probably should look into

PR looks fine to me though

[MarkPopkov]

LGTM, will test as soon as I can