From 77ba2e1fc4c3408e1b47703e5acc94763a1206b3 Mon Sep 17 00:00:00 2001 From: Christophe Bedard Date: Mon, 27 May 2019 16:12:56 +0200 Subject: [PATCH] Add more details about rmw --- doc/design_ros_2.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/doc/design_ros_2.md b/doc/design_ros_2.md index b912124..c333d05 100644 --- a/doc/design_ros_2.md +++ b/doc/design_ros_2.md @@ -25,12 +25,14 @@ sequenceDiagram participant process participant rclcpp participant rcl + participant rmw participant tracetools process->>rclcpp: rclcpp::init() Note over rclcpp: allocates
rclcpp::Context object rclcpp->>rcl: rcl_init(out context) Note over rcl: validates & processes context object + rcl->>rmw: rmw_init(out rmw_context_t) rcl->>tracetools: TP(rcl_init, &context) ``` @@ -55,12 +57,12 @@ sequenceDiagram Note over rmw: (implementation) process->>Component: Component() - Component->>rclcpp: : Node() + Component->>rclcpp: : Node(node_name, namespace) Note over rclcpp: allocates rcl_node_t handle rclcpp->>rcl: rcl_node_init(out rcl_node_t, node_name, namespace) Note over rcl: validates node name/namespace Note over rcl: populates rcl_note_t - rcl->>rmw: rmw_create_node() : rmw_node_t + rcl->>rmw: rmw_create_node(node_name, local_namespace) : rmw_node_t Note over rmw: creates rmw_node_t handle rcl->>tracetools: TP(rcl_node_init, rcl_node_t *, rmw_node_t *, node_name, namespace)