Brian

https://github.com/ros2/rcl/pull/997/commits/b40a6556156b7f4b7fd5d6f20869567028a6cf1a is a refactor partially addressing the review in https://github.com/ros2/rcl/pull/990. - `introspection.h` to `service_event_publisher.h` - `rcl_service_introspection_utils_t` rename to `rcl_service_event_publisher_t` and accompanying refactor - Hiding service introspection implementation by introducing `src/service_event_publisher.h`...

service_event_publisher qos is now exposed in `rcl` and configurable in `rclcpp` and `rclpy` See: https://github.com/ros2/rcl/pull/990#discussion_r921541487

@Alqio Current progress is being tracked on https://github.com/ros2/ros2/issues/1285 & more information can be found https://github.com/ros-infrastructure/rep/pull/360. I was hoping to iterate on it more (but good progress has been made without...

I was originally planning on helping wrap up the service introspection work last september but school ended up being a lot more work than anticipated. I may have some bandwidth...

I'm just going to turn this into a draft PR for now so that this doesn't get merged in by accident before the ones it depends on gets merged in...

Ah yeah that would be from when I commited your suggestion from the web client...fixed now

> AFAIK, Fast-DDS takes it just byte code, either `int8_t` or `uint8_t` during copy. I've dug through a number of rmw implementations and all of them take it bytecode as...

* Linux [](http://ci.ros2.org/job/ci_linux/17177/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/11719/) * Windows [](http://ci.ros2.org/job/ci_windows/17600/)

Tests introduced in https://github.com/ros2/rclpy/pull/988/commits/d5cebe934190584f6069fd20a601dd2cc0b94d8d depend on https://github.com/ros2/rclpy/pull/997

Now that https://github.com/ros2/rclpy/pull/959 is merged this PR should update `rclpy/test/test_parameter_client.py` to use the new `spin_until_complete` methods instead of `spin_until_future_complete`