Dynamic message types
I am new to ROS but have experience with DDS real-time pub/sub middleware. DDS has the concept of dymanic message type registration, which allows you to define a message type at run-time rather than compile time. See section 7.5.2 in: portals.omg.org/dds/sites/default/files/x-types_ptc_11-03-11.pdf. This allows DDS clients change the message structure without recompiling the application ( i.e. by reading message structure from IDL). Is there a similar concept in ROS?