Just two side notes:
- The roadmap currently contains a task to revisit the message definition format. The `.msg` format currently used with some minor extensions from ROS 1 might be replaced with something more powerful since the format can't handle several of the pending feature requests. Just to be consider when spending effort on implementing the current format in different languages.
- While the serialization protocol of the DDS implementations follows a single standard you can't rely on the rmw impl. to be DDS. There has e.g. be efforts to implement the rmw interface with other middlewares like OPC UA.
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