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simplified SingleChainPublisher task context ? #2

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@doudou

ChainPublisher is basically a loop over a list of chains, but it does not seem that it really has a benefit over having a single-chain publisher component. The latter would be significantly simpler, both internally and as an interface, since it would not need to have a dynamic port anymore.

I would be willing to implement this component, provided that you're not against it ... @maltewi ?

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