**Value:** implementing the standard `rmw_*` tracepoints makes the entire ROS 2 tracing/analysis ecosystem work with this RMW. **Implementation sketch:** emit tracetools' rmw tracepoints at publish/take/wait, guarded by `TRACETOOLS_ENABLED`. **Effort:** 1–2 days.
Value: implementing the standard
rmw_*tracepoints makes the entire ROS 2 tracing/analysis ecosystem work with this RMW.Implementation sketch: emit tracetools' rmw tracepoints at publish/take/wait, guarded by
TRACETOOLS_ENABLED.Effort: 1–2 days.