Abrar Rahman Protyasha

@galou I might be misunderstanding the math here, but I'm thinking that if you do a transformation on a stamped pose, then the output of that transformation should be in...

It's been a while since I've done this... can anyone run CI please?

@fujitatomoya it'll be a while before I can get back to this (school gets in the way!), but I have a [WIP BoundedString implementation](https://github.com/aprotyas/BoundedString) that I'd integrate into this PR....

I don't know how accurate this comment is, but from [`rosidl_generator_cpp/test/test_interfaces.cpp`](https://github.com/ros2/rosidl/blob/0ac413097fd1450e83e0ca8a280d097fe38b32e7/rosidl_generator_cpp/test/test_interfaces.cpp#L506-L514) ```cpp // TODO(mikaelarguedas) reenable this test when bounded strings enforce length TEST(Test_messages, DISABLED_Test_bounded_strings) { rosidl_generator_cpp::msg::Strings message; TEST_STRING_FIELD_ASSIGNMENT(message, bounded_string_value, "",...

I think this issue should be transferred to [ros2/rosidl](https://github.com/ros2/rosidl) - that repository houses the packages which generate/support message structures/traits.

> If no one is working on this issue, I would like to contribute to it. This was on my backlog but feel free to proceed!

I've targeted this PR to the `galactic` branch, but will change that ASAP if the maintainers could push a `foxy` branch off of the current repository head.

@jacobperron thanks for retargeting to `foxy`. Question: from the TODOs in the PR description, should the preference be to backport the PRs which introduced said `rclcpp` functionality, or to opt...

@antonyramsy this branch was still WIP and I didn't have enough bandwidth to get back to it for a while now. I remember seeing these errors when I was testing...

@jacobperron as of ff41c31, the end-to-end tests pass in this branch. I'm still struggling against the default lifespan and deadline values in QOS profiles. From https://github.com/ros2/rmw/pull/301#pullrequestreview-595709837, it looks like in...