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Add rmw implementation notes for client flow diagrams

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Christophe Bedard 2019-05-29 10:10:33 +02:00
parent 3ef3570ce5
commit ebf3270b30
1 changed files with 4 additions and 0 deletions
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doc/design_ros_2.md
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@ -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)