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No, we have neither that feature nor that message yet in ROS 2. We definitely should implement it, as it is a very useful feature in ROS 1, but we just haven't gotten around to it yet.

It would be great to have an issue to track this feature (maybe on https://github.com/ros2/ros2/ since it will span C++, Python, and tooling) and even better would be a pull request :)

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