Grey

I'd suggest we aim to do this refactoring for DART 7.0. @jslee02 if you don't agree, feel free to remove this from the milestone.

This summary looks really good to me. The only thing I'd tweak is that `Vertex positions`, `Vertex normals`, and `Index buffer` should be stored in the `MeshShape` rather than the...

Also, I'm not totally clear on what is meant by > the vast majority shouldn't be represented anywhere in dart Is this referring to the textures, materials, and shaders which...

> perhaps at the detriment to using it in other applications that don't require a viewer. I think if we utilize Addons and library components in an appropriate way, we...

Adding to Esteve's comments, this general topic of colcon's relationship with message bindings is one of the most complex problems that we regularly discuss at the ROS2-Rust working group meetings....

Thanks for reporting this. I've opened some PRs to fix this problem: * https://github.com/ros2-rust/rosidl_rust/pull/9 * https://github.com/ros2-rust/ros2_rust/pull/538