Geoffrey Biggs

Both good points. Thanks, Dirk. I've made changes for both.

I don't feel that renaming them to `init` and `deinit` is correct. These two functions are more intended to be provided by a container system that has a factory to...

The current state is broadcast on a topic, and is also accessible via a service.

I clarified that `create` and `destroy` are functions of a container system, but I think the document could do with more detail on what a container is and what interface...

@spiderkeys said: > After all, interoperability of data flows is what DDS is all about. @wjwwood said: > In both of those cases, other systems are conforming to our conventions,...

> @gbiggs, I agree with your statements, but my main point in highlighting DDS's goal of data flow interoperability is that it is built upon the premise that if both...

There are some test failures in the PR job. Please check them.

Fixed by #750

@ruffsl What needs to be done to get this out of draft status?

CI: * Linux [](http://ci.ros2.org/job/ci_linux/17867/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/12435/) * Windows [](http://ci.ros2.org/job/ci_windows/18538/)