Jacob Perron

Although I think it's a nice idea, I don't foresee us doing this refactor any time soon. I think it's okay to add the "backlog" label or close altogether if...

See https://github.com/ros2/rosidl/pull/620 for a fix.

It's probably better to consolidate discussion. To reiterate my comment (https://github.com/ros2/rcl/pull/544#issuecomment-561336558): > I believe there was a past discussion about relocating/refactoring the security directory implementation, but I'm unable to find...

I found the past discussion I was thinking about in #332. In particular, I agree with this https://github.com/ros2/rcl/pull/332#issuecomment-448072660: > I think the best solution (long term solution) would be to...

I'm not aware of any explicit roadmap, but we can start by using this ticket for tracking progress.

I've closed the connected `rcutils` PR and re-titled this issue. Rather than moving security utilities to `rcutils`, I think we should move the implementation to a separate package that clients...

Yes, I think the correct thing to do is to expire goal results based on the time the result is ready (not the goal creation time). I think one way...

Aside from the timing bug, there is still the race you pointed out. E.g. if we set the expiry time to zero (expire goals immediately), then I guess we'll run...

I don't believe there's a conceptual issue. As @nuclearsandwich points out, what needs to be done is to add support for a new datatype to handle dictionaries. In order to...

The ROS 2 parameter parser uses the third-party parser from [libyaml](https://pyyaml.org/wiki/LibYAML). I think we are not using yaml-cpp specifically because `rcl` is written in C not C++. If you'd also...