Geoffrey Biggs

> it appears that the security topic, as defined by the DDS Sec specs, is not a valid topic name in ROS2 realm since the 'colon' character is not valid...

One option could be to add an API in the `rmw` layer.

An API that gives access to information about the underlying security information, such as logged events.

I think that if there is going to be a ROS 1 API shim, which will provide an approach to using ROS 2 with an API that is familiar to...

It looks like the discussion is going to move back here, so I'll leave my comments on this pull request. First, some general comments. I read both this document and...

> it has not been my intention to convey that there is a decision to do a ucrlc. If there's text in this document that says otherwise please point it...

I think that the changes made in https://github.com/ros2/design/pull/197/commits/2b7cb6c08afad7a024e2710f97c083faf89d2e0d address my concerns about the planned direction for the work.

> @gbiggs would you agree that we have addressed your points? You made one comment in this direction, but I'm not sure whether the PR as a whole has been...

Can we do better than relying on file system layout to uniquely identify a message? What about using package name and a hash generated from the comment-less version of the...

> That doesn't seem practical if the user has to specify a message type on the command line. True. I was thinking only in terms of automated tools, but the...