From 3ac5f99da7d8299a632f05b8cb8687116b964db2 Mon Sep 17 00:00:00 2001 From: "Minju, Lee" Date: Fri, 27 Sep 2024 23:45:09 +0900 Subject: [PATCH] Fix comments Signed-off-by: Minju, Lee --- rmw/include/rmw/get_topic_endpoint_info.h | 20 ++++++++++++++++---- 1 file changed, 16 insertions(+), 4 deletions(-) diff --git a/rmw/include/rmw/get_topic_endpoint_info.h b/rmw/include/rmw/get_topic_endpoint_info.h index 449b0b80..e1972f46 100644 --- a/rmw/include/rmw/get_topic_endpoint_info.h +++ b/rmw/include/rmw/get_topic_endpoint_info.h @@ -191,12 +191,18 @@ rmw_get_subscriptions_info_by_topic( * This function returns an array of endpoint information for each client * of a given service, as discovered so far by the given node. * Endpoint information includes the client's node name and namespace, - * the associated topic type, the client's gid, and the client QoS profile. - * Names of non-existent topics are allowed, in which case an empty array will be returned. + * the associated service type, the client's gid, and the client QoS profile. + * Names of non-existent services are allowed, in which case an empty array will be returned. * * Depending on the RMW in use, discovery may be asynchronous. Therefore, creating a client * and then calling this API may not show the newly created client immediately. * + * \par Internal behavior + * In ROS middleware (RMW), service endpoints are internally handled as topics. + * Specifically, the client acts as a DataReader and the server as a DataWriter, + * populating the corresponding topic endpoint information. Therefore, all fields of + * `rmw_topic_endpoint_info_t` can be filled in by querying the graph cache. + * * \par QoS that are correctly read * Not all QoS may be read correctly, \sa rmw_get_publishers_info_by_topic() for more details. * @@ -271,12 +277,18 @@ rmw_get_clients_info_by_service( * This function returns an array of endpoint information for each server * of a given service, as discovered so far by the given node. * Endpoint information includes the server's node name and namespace, - * the associated topic type, the server's gid, and the server QoS profile. - * Names of non-existent topics are allowed, in which case an empty array will be returned. + * the associated service type, the server's gid, and the server QoS profile. + * Names of non-existent services are allowed, in which case an empty array will be returned. * * Depending on the RMW in use, discovery may be asynchronous. Therefore, creating a server * and then calling this API may not show the newly created server immediately. * + * \par Internal behavior + * In ROS middleware (RMW), service endpoints are internally handled as topics. + * Specifically, the client acts as a DataReader and the server as a DataWriter, + * populating the corresponding topic endpoint information. Therefore, all fields of + * `rmw_topic_endpoint_info_t` can be filled in by querying the graph cache. + * * \par QoS that are correctly read * Not all QoS may be read correctly, \sa rmw_get_publishers_info_by_topic() for more details. *