> Is there anything I can do to get groff to leave that escape
> character (ASCII 27/033) in the output?

As I understand the groff info file, this is very likely
impossible -- invalid characters (one of which is the ascii
escape character) are removed on input.

However: if you encode the escape as \N'27', nroff outputs a
real ascii escape character.  So if you're generating the input
by some program, make it output \N'27' instead.  If not, you
can try to preprocess the input with sed:

  sed -e "s/^[/\\\\N'27'/g" file | nroff | od -c
  0000000   Y   Y   Y 033   Z   Z   Z  \n  \n  \n  \n  \n  \n  \n  \n  \n
  0000020  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n
  *
  0000100  \n  \n  \n  \n  \n  \n  \n  \n  \n
  0000111

where "^[" is supposed to be an ascii escape character.



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