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**[RENDERED](https://github.com/mxgrey/bevy_rfcs/blob/topics/rfcs/65-topics.md)** This RFC propose a reactive pub-sub framework for Bevy, organized by topics. I anticipate this RFC will need a considerable amount of feedback and iteration. I'm opening this to...
**[RENDERED](https://github.com/mxgrey/bevy_rfcs/blob/services/rfcs/66-services.md)** This RFC is a sibling of #65 but can be considered independently. It proposes a reactive service-client framework for Bevy. Similar to #65 I anticipate that this RFC will...
The URDF specification has a "limits" class which is only capable of specifying 1-dimensional position, velocity, and effort limits for joints, but it offers Planar (PlanarJoint) and Floating (FreeJoint) joint...
I think there's a bit of cruft that we could improve in how we currently handle build types. The main thing that sticks out to me is that we create...
Since we're officially changing the package name from `dart` to `dartsim`, I think it would be good to reflect that in the `find_package(~)` call that users make. This mostly involves...
I've found that it can be confusing to find the parser that's needed for a particular file, because of the way they are all specialized with different class names and...
We've noticed that there may be issues with drop orders of rcl handles that are held by rclrs structs, e.g. #372 . I'm not certain that #372 fixed all the...
Firstly, much thanks to the developers and maintainers for getting this plugin started! I'm very excited by the prospect of using Rust in ROS2, and more generally having a nice...
Shapes are able to have a local transform within their Frame, but the computeInertia implementations of most Shape types do not account for that local transform. They should use coordinate...
Related to [a discussion](https://github.com/ros2/rclcpp/issues/2512) about improving how rclcpp and rclpy comply with the parameter service documentation. This PR is needed by https://github.com/ros2/rclcpp/pull/2515