update mapping and information about deprecated types, add actions, minor tweaks (#213)
update mapping and information about deprecated types, add actions, minor tweaks (#213)

* update mapping and information about deprecated types, add actions, minor tweaks

* Update articles/143_legacy_interface_definition.md

Co-Authored-By: dirk-thomas <19795c8185177e940eedd30ceb2b716a54a3d5dc@users.noreply.github.com>

* revert char mapping change

* rephrase note

gbiggs/design,ros2/design,gbiggs/design,ros2/design,ros2/design,gbiggs/design,gbiggs/design,ros2/design,ros2/design,gbiggs/design