Figure 9.2, which describes the mapping of DDS primitive types to OPC UA is hard to read. We should break the figure into different class diagrams. For example, we could create one diagram for primitive types, one diagram for floating point types, and one diagram for boolean, char, and byte types.

Also, Figures should be in black and white when possible; e.g., Figures 7.3, 8.1 and 9.1 could be made black and white.

Fix figures with readability issues

The resolution of this issue replaces existing figures with readability issues with new images.

DDS-XML 1.0 has been release, so we should upgrade our XML schema files to use the new version. This involves:

1. Updating the include statement in dds-opcua_definitions_nonamespace.xsd
2. Updating the reference in Clause 3 "Normative References" of the specification document.

Also, we should make sure that we use working URLs in the rest of include statements instead relative paths. This involves:
1. Updating the include statement in dds-opcua_definitions.xsd that includes "dds-opcua_definitions_nonamespace.xsd" on the current directory with a reference to "http://www.omg.org/spec/DDS-XML/20190101/dds-opcua_definitions_nonamespace.xsd", which is the URL where the schema file will end up as a result of this FTF.
2. Updating the include statement in dds-opcua_opcua2dds_configuration.xml that includes "dds-opcua_definitions.xsd" on the current directory with a reference to "http://www.omg.org/spec/DDS-XML/20190101/dds-opcua_definitions.xsd", which is the URL where the schema file will end up as a result of this FTF.

Also, we should use full URLs when we specify schema locations instead of relative paths. That would require changes in dds-opcua_definitions.xsd, dds-opcua_opcua2dds_configuration.xml, and dds-opcua_dds2opcua_configuration.xml. They should all point to resources under http://www.omg.org/spec/DDS-OPCUA/20190201, which would be the location of machine readable files for version 1.0 of the OPC UA/DDS Gateway specification.

Update references to DDS-XML 1.0 Beta to 1.0 and Schema Location URLs

This issue resolution replaces all references in Specification Document and Schema Files to Version 1.0 Beta of DDS-XML to new Version 1.0.

Moreover, it modifies schemaLocation references to use full URLs instead of relative path references.

dds-opcua_model.xmi refers to an old version of XMI (xmlns:xmi="http://www.omg.org/spec/XMI/20110701); we should update this reference to the most recent version, which is 2.5.1 (accessible at http://www.omg.org/spec/XMI/).

Likewise, the specification document points to OMG specifications, such as DDS-RTPS 2.2 and DDS-SECURITY 1.1 Beta, for which there are newer versions available. (The reference to the formal version of DDS-XML was added as part of the resoultion of DDSOPCU-1).

Update outdated normative references and dds-opcua_model.xmi to most recent version

This resolution updates normative references to the most recent available version. In particular, it updates the normative references to:

• DDS-RTPS 2.3 Beta 1
• DDS-SECURITY 1.1

And updates dds-opcua_model.xmi to version 2.5.1.