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This is a rebase of #218 for a clean merge from @rr-tom-noble but since it's been queued so long it's out of date.
There's a partial implementation in ros2/rviz#972
However I would suggest that we land this in rolling to both keep it in sync with the ROS 1 version that's already added this. And to enable the use of the message with other implementations in the future. If we don't add this now it won't be able to be added for another year.