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Refactoring Pub/Sub, Snapshots

S. Steinhoff requested to merge rework_pub_sub into develop

Related issues

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Acceptance criteria

  • Implemented code changes don't diverge from the related issue.
  • Documentation reflects the status quo after merge.
  • Version number is incremented according to SemVer. (Snapshot versions are not merged/released.)
  • Only released versions of dependencies are used (i.e. no snapshot versions).
  • The changelog contains entries reflecting all changes of this MR (and their reasons).

Proposed squash commit message

A short one-line summary (max. 50 characters)

* A more detailed explanation of the changes introduced by this merge
  request.
* Each line should not exceed 72 characters.

Co-authored-by: NAME <EMAIL>

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