During the 12 week internship I worked with the AWS Robotics and Foundations Team on contributing to ROS2 by enhancing its Quality Of Service usability. In particular, I worked on adding two major features:
•Added APIs to get publisher and subscription information by topic.
•Added support for incompatible event callbacks.
Implementing these features involved designing and adding new APIs in core ROS2 packages. These features have now been merged and will be included in the ROS2 Foxy release (or can be found merged on master).