v1.6.0

⭐️ Major Feature

✨ Minor Features and Optimizations

• ROS 2 plugin:

  • Added configuration options for the scheduling policy, priority and affinity of ros2 executor threads

  • Added ROS 2 Jazzy support with version-based compatibility:

    • Support both Humble (rclcpp 16.x) and Jazzy (rclcpp 28.x)

    • Use rclcpp_VERSION_MAJOR to distinguish between distributions

    • Update CI workflows to support a Jazzy test matrix

• Added an index field in the channel/rpc wrapper for unique identification

🐛 Bug Fixes: