Member px4_ros2::waitForFMU (rclcpp::Node &node, const rclcpp::Duration &timeout=30s, const std::string &topic_namespace_prefix=""): Use the (discovery_timeout, heartbeat_timeout) overload for finer control over the cold-boot discovery phase versus the heartbeat phase. This overload calls the new one with both timeouts set to timeout, so the worst-case wait is unchanged.