I agree changing other ROS features to use keyed topics is a much larger undertaking. The only thing we are specifically looking for is the ability to create a msg file which will cause them to be generated at this point. RTI's implementation looks for the (@)key at the end of the line, so realistically just passing along comments from a msg file to the IDL would make this work. For example, our msg file is below:
> string<=512 key #//(@)key
> string<=512 value
We made an update to basically pass this along so the IDL file now includes the following:
> struct Parameter_
> {
>
> string<512> key_; (@)key
> string<512> value_;
>
> }; // struct Parameter_
This obviously doesn't solve the problems with discovery that @dirk-thomas mentioned, but it allows the global parameter setup @wjwwood mentioned, which is how we are using it.
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