I'm low on time but I can create a minimal example later. I got
[FATAL] [1773330122.816267516] [rclrs.basic_executor]: WaitSetRunner unexpectedly dropped. This should never happen. Please report this to the rclrs maintainers with a minimal reproducible example.
The thing that caused this was panic!()ing in inside a subscription created using a Worker. The node continues to run even after it hits this error, though the topic cannot receive anymore. This suppresses the panic, which is bad. When using a non-Worker subscription, this causes the application to panic as expected. Let me know how I can provide more help.