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SROS2 API after moving to one Participant per Context

There have been some discussion about moving from one Participant per Node to one Participant per Context in https://github.com/ros2/design/pull/250.
This change will affect sros2 API, here are the details of a discussion on how will affect it:
https://github.com/ros2/design/pull/250#issuecomment-525034819

Any proposal and comments are more than welcome.

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