Services were introduced in [ros2/sros2#71](https://github.com/ros2/sros2/pull/71) and after to the new XML policy format ([ros2/sros#72](https://github.com/ros2/sros2/pull/72)); both in Crystal. But there is still an issue related to distinguishing requests vs. responses (see [ros2/sros#94](https://github.com/ros2/sros2/issues/94)). A discussion about how to incorporate security for actions was left [here](https://github.com/ros2/design/pull/203). I think a good step would be to brainstorm ideas in this thread and/or open a PR to [ros2/design](https://github.com/ros2/design) adding a section about security to the actions document. --- [Visit Topic](https://discourse.ros.org/t/sros2-services-and-actions-status/8319/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: