Update documentation to correct default publishing mode #3778
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This pull request has been mentioned on ROS Discourse. There might be relevant details there: https://discourse.ros.org/t/rmw-fast-dds-publication-mode-sync-vs-async-and-how-to-change-it/17153/3 |
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This LGTM, @audrow you changed the behaviour in ros2/rmw_fastrtps#571
| @@ -43,7 +43,6 @@ Mixing synchronous and asynchronous publications in the same node | |||
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| In this first example, a node with two publishers, one of them with synchronous publication mode and the other one with asynchronous publication mode, will be created. | |||
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| ``rmw_fastrtps`` uses asynchronous publication mode by default. | |||
| When the publisher invokes the write operation, the data is copied into a queue, | |||
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| When the publisher invokes the write operation, the data is copied into a queue, | |
| One the one hand, on the asynchronous publication mode, when the publisher invokes the write operation, the data is copied into a queue, |
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Thanks for the fixup. You are right that we switched to synchronous mode by default in Humble and since.
I can't make this suggestion inline due to GitHub limitations, but I think we should restructure this a little more. In particular, I think we should swap the order of the two paragraphs, so that the paragraph talking about synchronous mode comes first. I think that makes the most sense, since that is the default. The text will then need some light editing to have it make more sense, but I think that will flow better overall.
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I agree with @clalancette. I have refactored the paragraph and changed a bit the phrasing. |
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@Mergifyio backport rolling iron |
✅ Backports have been created
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* Update documentation to correct default publishing mode (cherry picked from commit 87b1737)
* Update documentation to correct default publishing mode (cherry picked from commit 87b1737)
* Update documentation to correct default publishing mode (cherry picked from commit 87b1737) Co-authored-by: Giuseppe Rizzi <[email protected]>
* Update documentation to correct default publishing mode (cherry picked from commit 87b1737) Co-authored-by: Giuseppe Rizzi <[email protected]>
I checked both the documentation and the source code. The documentation shall be updated to reference the default publishing mode.