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                                            Lei Liu

Add loaned message listener.

> isn't that an exact duplicate of the listener demo? While I am all up for consistency, I am not really a fan of copying code. Thanks for your reply!...

__rmw_boxrrow_loaned_message works and after some time starts to return RMW_RET_ERROR

Can you provide some detail of console output ?

yaml tag full support in rcl_yaml_param_parser

@fujitatomoya yaml tag [timestamp](https://yaml.org/type/timestamp.html), need a regex check, which need compiling in a regex related library, and ros2 parameter type does not support timestamp, do we really need it?

yaml tag full support in rcl_yaml_param_parser

#1032