Alberto Soragna

Looks good to me. Full CI including your rcl PR * Linux [](http://ci.ros2.org/job/ci_linux/17204/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/11747/) * Windows [](http://ci.ros2.org/job/ci_windows/17630/)

I like the overall idea. However I have a couple of questions from looking at your examples. It seems like there are multiple methods to retrieve each interface (e.g. `base`...

Looks good to me. I left a couple of minor comments about style. CI: * Linux [](http://ci.ros2.org/job/ci_linux/17631/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/12179/) * Windows [](http://ci.ros2.org/job/ci_windows/18206/)

IMO a feature like this can be easily implement via a wrapper around the `Timer` class (and this is also how I would recommend to implement it, without modifying the...

Considering that multiple developers agree on this feature, I'm ok with integrating it. However, I also think that the ros core should pay attention to the zero overhead principle, as...

CI * Linux [](http://ci.ros2.org/job/ci_linux/16370/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/10979/) * Windows [](http://ci.ros2.org/job/ci_windows/16737/)

CI * Linux [](http://ci.ros2.org/job/ci_linux/16377/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/10986/) * Windows [](http://ci.ros2.org/job/ci_windows/16749/)

CI * Linux [](http://ci.ros2.org/job/ci_linux/16387/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/10996/) * Windows [](http://ci.ros2.org/job/ci_windows/16759/)

New CI with updated cyclonedds * Linux [](http://ci.ros2.org/job/ci_linux/16395/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/11004/) * Windows [](http://ci.ros2.org/job/ci_windows/16767/)

CI * Linux [](http://ci.ros2.org/job/ci_linux/16404/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/11015/) * Windows [](http://ci.ros2.org/job/ci_windows/16776/)