Jacob Perron

> it will have to wait for G-turtle. To clarify, I'm proposing we work on this change *for* G-turtle.

@naiveHobo Thanks for providing an updated diagram (visuals are useful!). After more thought, I'm not sure that we want to add the proposed "preempted" state. Taking a step back, the...

I also support the idea to simplify the goal states, and/or allowing the user to pass their own return code. I do think that there is still value in communicating...

> do you imagine GoalStatus and ResultCode are identical? To clarify, a goal result is made up of two pieces: 1) the `GoalStatus` message and 2) the user-defined result message....

> Regardless of implementation details, the concept of supporting preemption was important in ROS1 and missing in ROS2 & its useful context. I'm still confused by this point. When we...

@JafarAbdi I mean the docblock for the function being modified: https://github.com/ros2/rcutils/blob/master/include/rcutils/logging.h#L49-L107

> Would a data-flow diagram that shows how the current architecture can be cast into the proposed one help? +1 Also matching the proposed tools to the stage in the...

> Describe what the build system has to do to generate, build, and install generated artifacts e.g.: generate source files calling the code generation tooling, then build them into a...

After an offline discussion, I've updated this PR attempting to address the problem of identifying interfaces in general (pure IDL).

> Considering a command line tool like ros2 msg I would expect it to take a URN as an argument. The problem I see is that it doesn't know what...