I'm happy with being more verbose and distinguishing ros communication with capabilities, I will revise the ipc subsystem to have different names for capabilities.
Is there a discussion regarding the translation of `yaml -> dds xml DomainParticipant permissions document` is concerned?
I've observed that each rmw implementation mangles topic names based on the subsystem (topic, actions, services) using constants replicated through each repo. Is there a thread which discusses consolidation of topic prefixes/suffixes into a library to ensure each implementation uses the same constants? This way we can programmatically ensure the generated permissions xml document is accurate to each rmw implementation.
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