Update master with local changes

src/fc_network_apps/arm_disarm.py

@@ -37,6 +37,7 @@ def arm_disarm(
     param1: 1.0 to arm, 0.0 to disarm.
     param2: usually 0. Some stacks use 21196 for force-arm (ArduPilot); pass via param2 if needed.
     """
+    if not rclpy.ok():
         rclpy.init(args=None)
     node: Optional[Node] = None
     try:
@@ -82,7 +83,6 @@ def arm_disarm(
     finally:
         if node is not None:
             node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == "__main__":

src/fc_network_apps/changeMode.py

@@ -42,6 +42,7 @@ def change_mode(
 ) -> ChangeModeResult:
 
     """One-shot helper for collaborators who want minimal code."""
+    if not rclpy.ok():
         rclpy.init(args=None)
     node: Optional[Node] = None
     try:
@@ -87,7 +88,6 @@ def change_mode(
     finally:
         if node is not None:
             node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == "__main__":

src/fc_network_apps/takeoff.py

@@ -35,6 +35,7 @@ def takeoff(
     service_name: str = DEFAULT_SERVICE_NAME,
 ) -> TakeoffResult:
     """One-shot MAV_CMD_NAV_TAKEOFF wrapper."""
+    if not rclpy.ok():
         rclpy.init(args=None)
     node: Optional[Node] = None
     try:
@@ -80,7 +81,6 @@ def takeoff(
     finally:
         if node is not None:
             node.destroy_node()
-        rclpy.shutdown()
 
 
 if __name__ == "__main__":