Zhen Ju

@genedna Pls assign the issue to me

Missing features/TODO list records: - [ ] The `supported_types` service(discussed [here](https://github.com/ros2/rclpy/issues/575#issuecomment-645721876)), need a discussion on where to put this service, put it in the composition_interfaces package, or just the rclpy...

Thanks for the review! Just get myself back to work after a LONG business travel. I'll look into the code and make some fixes/improvments

@jacobperron Hi, I've made some changes following the reviews, make a list here for better track: - [x] Remove the unnecessary spin in ComponentManager's `__init__ `method - [x] Make up...

@buschbapti Thanks for the attention. I'll make a recheck on this and see if it can be merged ASAP.

I now have a rough understanding of the composition, according to the design and rclcpp implementation, the rclpy should implement: **component container** - The container itself is a node -...

The composition mechanism relies on [ament_resource_indexer](https://github.com/ament/ament_cmake/blob/master/ament_cmake_core/doc/resource_index.md), basically the resources are stored in path `/share/ament_index/resource_index//`. The ros2cli component verb's types command will only try to find resource_type 'rclcpp_components' as the code...

> I am not sure how this would be beneficial. In each language the logic how to load a component is specific to that language. A container written in one...

That's a good idea, I see the CLI uses [argcomplete](https://pypi.org/project/argcomplete/) to match arguments, should I provide a service whose name is in a specific pattern to make argcomplete recognize the...

> I would propose to just use a Python API / entry point for Python components. The component can then decide internally if it wants to use a Cython library...