Services were introduced in [ros2/sros2#71](
https://github.com/ros2/sros2/pull/71) and after to the new XML policy format ([ros2/sros#72](
https://github.com/ros2/sros2/pull/72)); both in Crystal.
But there is still an issue related to distinguishing requests vs. responses (see [ros2/sros#94](
https://github.com/ros2/sros2/issues/94)).
A discussion about how to incorporate security for actions was left [here](
https://github.com/ros2/design/pull/203). I think a good step would be to brainstorm ideas in this thread and/or open a PR to [ros2/design](
https://github.com/ros2/design) adding a section about security to the actions document.
---
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