New: Publish only when subscribed - A new setting in Settings → Publishing sends a topic only while a ROS 2 subscriber is connected. Sensors keep running, topics nobody listens to send no data, and a new subscriber's first message is captured after it subscribed, so ros2 topic echo --once takes a fresh picture. - Sensor rows show "Waiting for subscriber" while their topic has no subscribers. More reliable connections - Publishing reconnects on its own after a router restart or a Wi-Fi drop, and keeps retrying until the router is back. - The app stays responsive when the network stalls: sending no longer runs on the main thread, so a frozen router can no longer freeze the screen or get the app closed. - /tf_static comes back after a router restart, and late-joining Zenoh subscribers receive it right away. - A brief connection error right after launch is retried instead of showing "Connection Failed". Under the hood - Updated swift-ros2 (zenoh-pico 1.7.1; DDS on CycloneDDS 11.0.1). - Fixed a case where stopping a recording right after starting it kept recording work running in the background.