ensuring agent is acting as agent for all that it should

How to guarantee that agent is representing all publishers, nodes etc as requested?

related to the following issues and PRs:

https://github.com/micro-ROS/micro_ros_arduino/issues/40
https://github.com/micro-ROS/micro_ros_setup/issues/299
https://github.com/micro-ROS/micro_ros_setup/issues/256
https://github.com/micro-ROS/rmw_microxrcedds/pull/86/files
https://github.com/micro-ROS/micro_ros_setup/issues/347
https://github.com/micro-ROS/rmw_microxrcedds/pull/143/files
https://github.com/micro-ROS/micro_ros_arduino/issues/912

it appears the consensus is to use `rmw_uros_ping_agent` to detect the loss of agent communications, `fini*` and reinit all the bits, as exemplified here https://github.com/micro-ROS/micro_ros_arduino/blob/galactic/examples/micro-ros_reconnection_example/micro-ros_reconnection_example.ino

The communications with the agent is often over UDP, so its possible just to miss one of several init packets?
In this case the agent would be operating normally, and perhaps we wouldnt notice our missing service for a while.

Is it possible to periodically get the XRCE protocol to re-announce to the agent the set of nodes, topics etc, so that it would self recover?
Or is it feasible to implement some kind of "Tell me how you are configured, and I'll compare it to my idea of what I think you should be doing" handshaking in the protocol between agent and microros?

Beginne mit dem verlinkten micro-ros_reconnection_example.ino und vergleiche dessen rmw_uros_ping_agent-, fini*- und Reinitialisierungsablauf mit den zugehörigen Issues und Pull Requests, insbesondere den Änderungen an rmw_microxrcedds. Kläre, ob eine regelmäßige XRCE-Neubekanntgabe oder ein Handshake zur Agent-Client-Konfiguration machbar ist, und definiere anschließend ein abgestimmtes Wiederherstellungsverhalten sowie die zugehörigen Validierungsfälle.

Vom Indexierungsmodell aus dem Issue-Text verfasst.