service discovery: terminated publishers and servers are not removed from the service registry

We're in the process of implementing service discovery using the iceoryx primitives.

It seems that terminated publishers and servers are not automatically removed from the service registry, hence
unavailable services (terminated for whatever reason since registering with the service registry) are incorrectly reported as found / available.

Is there a way to automatically get iceoryx to remove terminated publishers/servers from the service registry ?
If not can/should the roudi heartbeat / timeout be reused , or is this something we need to layer on top of iceoryx using application layer heartbeats and "manually" removing entries from the service registry?

Thanks

Start by tracing the service registry behavior for terminated publishers and servers, then compare it with the existing roudi heartbeat and timeout mechanism. The issue is complete when the project clearly handles removal of terminated services or documents that application-level heartbeats and manual removal are required.