I'd recommend giving slightly more detail about what you need to expose through the `rmw` API and how you're going to represent it (e.g. are they entity ID's, GUID's, something else?) before committing the resources to make the full set of pull requests. Just because that seems to me to be the most likely location that we'll have some issues with early on.
It's totally solvable, but I just don't want you to spend a huge amount of time only to have to refactor large parts due to miscommunication.
Also, something to keep in mind while implementing, is that currently there is one node per participant, but that's actually been identified as a high impact performance issue, so at some point in the future we'd like to have multiple nodes per participant (not necessarily mapped by the user, but instead having one participant per process or something like that). So just keep that in mind when you're working on this. It might make sense to depend on the one node per participant assumption for now, but if there are two reasonably similar solutions and one doesn't depend on that assumption, you might want to take that one.
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