From 9122b9220b4c1191a78c8373a04cc1edfac959b9 Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Thu, 3 Jun 2021 15:28:47 +0000 Subject: [PATCH] Change links from index.ros.org -> docs.ros.org And make a few other minor updates while we are in here. Signed-off-by: Chris Lalancette --- README.md | 9 ++++----- rmw_fastrtps_cpp/QUALITY_DECLARATION.md | 2 +- rmw_fastrtps_shared_cpp/QUALITY_DECLARATION.md | 2 +- 3 files changed, 6 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index 3b8915ff7..b65011045 100644 --- a/README.md +++ b/README.md @@ -1,11 +1,10 @@ # ROS 2 Middleware Implementation for eProsima's Fast DDS -`rmw_fastrtps` constitutes __[ROS 2](https://index.ros.org/doc/ros2/) default middleware implementation__, providing an interface between ROS 2 and [eProsima's](https://www.eprosima.com/index.php) [Fast DDS](https://github.com/eProsima/Fast-DDS) middleware. +`rmw_fastrtps` is a [ROS 2](https://docs.ros.org/en/rolling) middleware implementation, providing an interface between ROS 2 and [eProsima's](https://www.eprosima.com/index.php) [Fast DDS](https://github.com/eProsima/Fast-DDS) middleware. ## Getting started This implementation is available in all ROS 2 distributions, both from binaries and from sources. -You do not need to do anything in order to use Fast DDS as your ROS 2 middleware layer (since it is the default implementation). -However, you can still specify it in two different ways: +You can specify Fast DDS as your ROS 2 middleware layer in two different ways: 1. Exporting `RMW_IMPLEMENTATION` environment variable: ```bash @@ -28,7 +27,7 @@ You can however set it to `rmw_fastrtps_dynamic_cpp` using the environment varia ## Advance usage -ROS 2 only allows for the configuration of certain middleware QoS (see [ROS 2 QoS policies](https://index.ros.org/doc/ros2/Concepts/About-Quality-of-Service-Settings/#qos-policies)). +ROS 2 only allows for the configuration of certain middleware QoS (see [ROS 2 QoS policies](https://docs.ros.org/en/foxy/Concepts/About-Quality-of-Service-Settings.html#qos-policies)). In addition to ROS 2 QoS policies, `rmw_fastrtps` sets two more Fast DDS configurable parameters: * History memory policy: `PREALLOCATED_WITH_REALLOC_MEMORY_MODE` @@ -41,7 +40,7 @@ However, `rmw_fastrtps` offers the possibility to further configure Fast DDS: ### Change publication mode -Fast DDS feats two different [publication modes](https://fast-dds.docs.eprosima.com/en/v2.1.0/fastdds/dds_layer/core/policy/eprosimaExtensions.html?highlight=synchronous#publishmodeqospolicykind): synchronous and asynchronous. +Fast DDS features two different [publication modes](https://fast-dds.docs.eprosima.com/en/v2.1.0/fastdds/dds_layer/core/policy/eprosimaExtensions.html?highlight=synchronous#publishmodeqospolicykind): synchronous and asynchronous. To learn more about the implications of choosing one mode over the other, please refer to [DDS: Asynchronous vs Synchronous Publishing](https://www.eprosima.com/index.php/resources-all/performance/dds-asynchronous-vs-synchronous-publishing): `rmw_fastrtps` offers an easy way to change Fast DDS' publication mode without the need of defining a XML file. That is environment variable `RMW_FASTRTPS_PUBLICATION_MODE`. diff --git a/rmw_fastrtps_cpp/QUALITY_DECLARATION.md b/rmw_fastrtps_cpp/QUALITY_DECLARATION.md index a21d46271..3aabf83ec 100644 --- a/rmw_fastrtps_cpp/QUALITY_DECLARATION.md +++ b/rmw_fastrtps_cpp/QUALITY_DECLARATION.md @@ -101,7 +101,7 @@ Unit, integration, and system tests higher up in the stack, such as those found ### Coverage [4.iii] -`rmw_fastrtps_cpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#coverage), and opts to use branch coverage instead of line coverage. +`rmw_fastrtps_cpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#code-coverage), and opts to use branch coverage instead of line coverage. This includes: diff --git a/rmw_fastrtps_shared_cpp/QUALITY_DECLARATION.md b/rmw_fastrtps_shared_cpp/QUALITY_DECLARATION.md index 2e13d3d3e..a910245ea 100644 --- a/rmw_fastrtps_shared_cpp/QUALITY_DECLARATION.md +++ b/rmw_fastrtps_shared_cpp/QUALITY_DECLARATION.md @@ -101,7 +101,7 @@ Unit, integration, and system tests for `rmw_fastrtps_cpp` and `rmw_fastrtps_dyn ### Coverage [4.iii] -`rmw_fastrtps_shared_cpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#coverage), and opts to use branch coverage instead of line coverage. +`rmw_fastrtps_shared_cpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#code-coverage), and opts to use branch coverage instead of line coverage. This includes: