Tomoya Fujita

@wjwwood @ivanpauno @clalancette CC: @iuhilnehc-ynos friendly ping, ContentFiteredTopic 1st step is out here: https://github.com/ros2/design/pull/282#issuecomment-785522547 i know you are busy and there are other stuff to review in the queue. but...

Note for myself, - enabling ContentFilteredTopic, we need https://github.com/rticommunity/rmw_connextdds to be merged before this. - ideally, we need to follow-up with examples for https://github.com/ros2/demos/tree/master/demo_nodes_cpp.

@asorbini it does for me.

@iuhilnehc-ynos do you happen to have a repo file for CFT development?

> @iuhilnehc-ynos do you happen to have a repo file for CFT development? @iuhilnehc-ynos friendly ping!

@iuhilnehc-ynos thanks 👍

@iuhilnehc-ynos which one is official fix for CFT? https://github.com/ros2/rmw_connextdds/tree/asorbini/cft or https://github.com/ros2/rmw_connextdds/pull/12? could you confirm and check?

@ros2/team could you have some time to review this and shar comments?

> If it were some other case, I would say that the result message should contain information to communicate the reason for an aborted goal. since there is a clear...

> are you preempting goals a lot, or is it that you want to know they were preempted? both, as @SteveMacenski mentioned, it is for pose, behavior and so on....