Add raw publisher, convert Context to singleton#76

Merged

m-dahl merged 4 commits intosequenceplanner:masterfrom mchhoy:raw_publisher

Jan 7, 2024

+444-195

Commits on Dec 14, 2023

Commits on Dec 28, 2023

Merge. Move publish_raw into PublisherUntyped. Fix CI error. Update tests.
mchhoy
committed

Commits on Dec 29, 2023

Add more tests. Convert Context into singleton to avoid memory corruption when creatin multiple Context instances
mchhoy
committed