From ebf3270b306a9f162bf1e3b9c3d877e0a05ac027 Mon Sep 17 00:00:00 2001 From: Christophe Bedard Date: Wed, 29 May 2019 10:10:33 +0200 Subject: [PATCH] Add rmw implementation notes for client flow diagrams --- doc/design_ros_2.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/doc/design_ros_2.md b/doc/design_ros_2.md index 22cf9b2..6207ebd 100644 --- a/doc/design_ros_2.md +++ b/doc/design_ros_2.md @@ -309,6 +309,8 @@ sequenceDiagram participant rmw participant tracetools + Note over rmw: (implementation) + Component->>Node: create_client(service_name, options) Node->>Client: Client(service_name, options) Note over Client: allocates a rcl_client_t handle @@ -337,6 +339,8 @@ sequenceDiagram participant rmw participant tracetools + Note over rmw: (implementation) + Note over Component: creates request Component->>Client: async_send_request(request[, callback]) : result_future Client->>rcl: rcl_send_request(rcl_client_t, request, out sequence_number)