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Background Tasks (Long-living) #52

@besok

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@besok

The concept of some tasks that are not in the tree(but can be controlled by the tree nodes) executing some work in the background.
For instance, synchronize the topics of BB and ROS2 etc.

It seems to have the nodes in the tree appear to make the tree cumbersome and do not fit properly into the conception of trees since the tasks need to hang for a long time.

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