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Add support for namespaces and respawn of crashed nodes #1110

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Run time

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Job	Run time
ROS 2 iron (ubuntu-22.04)	7m 2s
lint	38s
ROS 2 jazzy (ubuntu-24.04)	5m 58s
ROS 2 rolling (ubuntu-24.04)	6m 12s
	19m 50s