Reevaluate the const-ness of the classes and interfaces to rcl #1143
Description
Bug report
Over in #1119 (comment) , we had a bit of a discussion about the const-ness of interfaces, particularly how it relates to how rclcpp interfaces with rcl. After that discussion, it seems like there may be some constness problems in that interface. We should re-evaluate how constness is used, particularly at the rcl interface boundary.
Required Info:
- Operating System:
- Ubuntu 20.04
- Installation type:
- Source
- Version or commit hash:
- DDS implementation:
- Fast-RTPS
- Client library (if applicable):
- rclcpp