Fixing topic sync lagging and delay issues, more examples (depthai, z… #103

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Run time

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Job	Run time
docker (humble)	11s
docker (humble-latest)	2h 58m 8s
docker (iron)	19s
docker (iron-latest)	21m 56s
docker (jazzy-latest)	5h 26m 1s
	8h 46m 35s