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Add notes about rmw implementations and fix call to rmw

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This commit is contained in:
Christophe Bedard 2019-05-28 08:54:47 +02:00
parent 717bf93c15
commit 98f5909598
1 changed files with 7 additions and 1 deletions
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8
doc/design_ros_2.md
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@ -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<void>
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