Main changes Clause Samples

Main changes. ‌ This section presents a summarised list of the most important changes from the previous version of the document, D1.6 Y3: Change Section Short description Real- Time Real-Time Executors Real-Time ready executors. A ROS2 executors redesign with real-time capabilities in mind. Executors Library layer Library layer RCLC layer was reworked and improved with executors, publish/subscription functionalities, timers, and lifecycle. Plus, RCLCPP will continue to be supported as a C++-based client library layer. Actions Actions Added ROS 2 actions section to the document 3 micro-ROS Architecture‌