A lot of the code examples like minimal_publisher are just copied from ros2_examples repo. If we could read the raw files from either the built deb, a submodule or, just downloading off of GitHub. We then could use literalinclude to avoid the duplication. The end goal would be to reduce maintainer burden of having to manual copy code.

My use case would be adding Python type hints to the examples and have them automatically update here as well.