[quote="ross_2, post:29, topic:674"]
... and these daemons are still not available.
[/quote]
What do you mean by "daemon" here?
[quote="ross_2, post:29, topic:674"]
Are there any objections to using SDP to discover the node graph?
[/quote]
I don't see a need to introduce a secondary communication protocol. You should be able to retrieve the necessary from the underlying middleware. It will likely require to extend the rmw interface but each existing implementation should be able to provide the necessary information.
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