Robotics Service Bus

Should a client be allowed to send data which is not of the Informer's configured type?
* -Only data of the declared type should be sent-
Data of the declared type and subtypes can be send
* Runtime errors should be signaled in case of violation

Should a client be allowed to send to scopes which are different from the Informer's configured scope?
* -Only the declared scope is allowed-
The declared scope and subscopes are allowed
* Runtime errors should be signaled in case of violation

Implementation of these modified rules and associated test cases:
* C++ ✓
* Python ✓
* Common Lisp ✓
* Java ✓ (except checking on sub-scopes)