From 2d465a5b201115d31247a757095568a9bd4536b6 Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Fri, 17 Nov 2023 19:20:28 -0700 Subject: [PATCH] AP_DDS: Fix typos and out of date info Signed-off-by: Ryan Friedman --- libraries/AP_DDS/README.md | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/libraries/AP_DDS/README.md b/libraries/AP_DDS/README.md index 5b98ecbac774a2..b148fa23e079bc 100644 --- a/libraries/AP_DDS/README.md +++ b/libraries/AP_DDS/README.md @@ -149,8 +149,6 @@ Follow the steps to use the microROS Agent - Do "Creating the micro-ROS agent" - Source your ROS workspace -Until this [PR](https://github.com/micro-ROS/micro-ROS.github.io/pull/401) is merged, ignore the notes about `foxy`. It works on `humble`. - ## Using the ROS 2 CLI to Read Ardupilot Data After your setups are complete, do the following: @@ -252,7 +250,7 @@ In order to consume the transforms, it's highly recommended to [create and run a ## Using ROS 2 services -The `AP_DDS` libraary exposes services which are automatically mapped to ROS 2 +The `AP_DDS` library exposes services which are automatically mapped to ROS 2 services using appropriate naming conventions for topics and message and service types. An earlier version of `AP_DDS` required the use of the eProsima [Integration Service](https://github.com/eProsima/Integration-Service) to map @@ -338,7 +336,7 @@ Note that a service interface always requires a Request / Response pair. #### ROS 2 topic and service names The ROS 2 design article: [Topic and Service name mapping to DDS](https://design.ros2.org/articles/topic_and_service_names.html) describes the mapping of ROS 2 topic and service -names to DDS. Each ROS 2 subsytem is provided a prefix when mapped to DDS. +names to DDS. Each ROS 2 subsystem is provided a prefix when mapped to DDS. The request / response pair for services require an additional suffix. | ROS 2 subsystem | DDS Prefix | DDS Suffix |