From 98f590959830a672b8272e0b037b0cebc0b7657c Mon Sep 17 00:00:00 2001 From: Christophe Bedard Date: Tue, 28 May 2019 08:54:47 +0200 Subject: [PATCH] Add notes about rmw implementations and fix call to rmw --- doc/design_ros_2.md | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/doc/design_ros_2.md b/doc/design_ros_2.md index 134a831..7919487 100644 --- a/doc/design_ros_2.md +++ b/doc/design_ros_2.md @@ -29,6 +29,8 @@ sequenceDiagram participant rmw participant tracetools + Note over rmw: (implementation) + process->>rclcpp: rclcpp::init(argc, argv) Note over rclcpp: fetches process-specific Context object rclcpp->>Context: init(argc, argv) @@ -188,6 +190,8 @@ sequenceDiagram participant rmw participant tracetools + Note over rmw: (implementation) + Note over Executor: execute_subscription() Executor->>Subscription: create_message(): std::shared_ptr Executor->>rcl: rcl_take*(rcl_subscription_t, out msg) : ret @@ -219,11 +223,13 @@ sequenceDiagram participant rmw participant tracetools + Note over rmw: (implementation) + Note over Component: creates a msg Component->>Publisher: publish(msg) Note over Publisher: ... Publisher->>rcl: rcl_publish(rcl_publisher_t, msg) - rcl->>rmw: rmw_publisher(rmw_publisher, msg) + rcl->>rmw: rmw_publish(rmw_publisher_t, msg) ``` ### Service creation