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Add more details about rmw

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This commit is contained in:
Christophe Bedard 2019-05-27 16:12:56 +02:00
parent 29cdad21f7
commit 77ba2e1fc4
1 changed files with 4 additions and 2 deletions
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6
doc/design_ros_2.md
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@ -25,12 +25,14 @@ sequenceDiagram
participant process participant process
participant rclcpp participant rclcpp
participant rcl participant rcl
participant rmw
participant tracetools participant tracetools
process->>rclcpp: rclcpp::init() process->>rclcpp: rclcpp::init()
Note over rclcpp: allocates <div></div> rclcpp::Context object Note over rclcpp: allocates <div></div> rclcpp::Context object
rclcpp->>rcl: rcl_init(out context) rclcpp->>rcl: rcl_init(out context)
Note over rcl: validates & processes context object Note over rcl: validates & processes context object
rcl->>rmw: rmw_init(out rmw_context_t)
rcl->>tracetools: TP(rcl_init, &context) rcl->>tracetools: TP(rcl_init, &context)
``` ```
@ -55,12 +57,12 @@ sequenceDiagram
Note over rmw: (implementation) Note over rmw: (implementation)
process->>Component: Component() process->>Component: Component()
Component->>rclcpp: : Node() Component->>rclcpp: : Node(node_name, namespace)
Note over rclcpp: allocates rcl_node_t handle Note over rclcpp: allocates rcl_node_t handle
rclcpp->>rcl: rcl_node_init(out rcl_node_t, node_name, namespace) rclcpp->>rcl: rcl_node_init(out rcl_node_t, node_name, namespace)
Note over rcl: validates node name/namespace Note over rcl: validates node name/namespace
Note over rcl: populates rcl_note_t 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 Note over rmw: creates rmw_node_t handle
rcl->>tracetools: TP(rcl_node_init, rcl_node_t *, rmw_node_t *, node_name, namespace) rcl->>tracetools: TP(rcl_node_init, rcl_node_t *, rmw_node_t *, node_name, namespace)