ensuring agent is acting as agent for all that it should

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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?

Inizia con il micro-ros_reconnection_example.ino collegato e confronta il relativo flusso di rmw_uros_ping_agent, fini* e reinizializzazione con le issue e le pull request correlate, in particolare le modifiche a rmw_microxrcedds. Chiarisci se sia fattibile un nuovo annuncio periodico di XRCE o un handshake di configurazione tra agent e client, quindi definisci un comportamento di recupero concordato e i relativi casi di validazione.

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