From 08eddf3ee81a2062296e2cfce187105c881f2c72 Mon Sep 17 00:00:00 2001 From: Andrea Sorbini Date: Thu, 29 Apr 2021 00:34:11 -0700 Subject: [PATCH] Update link targets Signed-off-by: Andrea Sorbini --- README.md | 42 +++++++++++++++++++++--------------------- 1 file changed, 21 insertions(+), 21 deletions(-) diff --git a/README.md b/README.md index 0deea0ce..097bdc08 100644 --- a/README.md +++ b/README.md @@ -15,7 +15,7 @@ Package `rmw_connextdds` is meant to be a replacement for [`rmw_connext_cpp`](ht This new implementation resolves several performance issues, and it improves out-of-the-box interoperability with DDS applications. -For any questions or feedback, feel free to reach out to robotics@rti.com. +For any questions or direct feedback, feel free to reach out to robotics@rti.com. ## Table of Contents @@ -1006,27 +1006,27 @@ Connext installation by copying the file (or its contents) to `ros2_qos_profiles.xml` contains a single QoS library named `ros2`, and containing the following QoS profiles: -- [`ros2::rmw.ros_discovery_info`](#ros2--rmwros-discovery-info) -- [`ros2::rcl.node_parameters`](#ros2--rclnode-parameters) -- [`ros2::rcl.log`](#ros2--rcllog) -- [`ros2::rcl.builtin_endpoints`](#ros2--rclbuiltin-endpoints) -- [`ros2::rmw_connextdds.base_participant`](#ros2--rmw-connextddsbase-participant) -- [`ros2::rmw_connextdds.base_application`](#ros2--rmw-connextddsbase-application) -- [`ros2::rmw_connextdds.opt.large_data`](#ros2--rmw-connextddsoptlarge-data) -- [`ros2::rmw_connextdds.opt.unbounded_data`](#ros2--rmw-connextddsoptunbounded-data) -- [`ros2::rmw_connextdds.opt.content_filtered_topic_property`](#ros2--rmw-connextddsoptcontent-filtered-topic-property) -- [`ros2::rmw_connextdds.opt.localhost_only`](#ros2--rmw-connextddsoptlocalhost-only) -- [`ros2::rmw_connextdds.opt.fast_endpoint_discovery`](#ros2--rmw-connextddsoptfast-endpoint-discovery) - -Most users should consider using profile [`ros2::rmw_connextdds.base_application`](#ros2--rmw-connextddsbase-application) as the base profile to begin +- [`ros2::rmw.ros_discovery_info`](#ros2rmwros_discovery_info) +- [`ros2::rcl.node_parameters`](#ros2rclnode_parameters) +- [`ros2::rcl.log`](#ros2rcllog) +- [`ros2::rcl.builtin_endpoints`](#ros2rclbuiltin_endpoints) +- [`ros2::rmw_connextdds.base_participant`](#ros2rmw_connextddsbase_participant) +- [`ros2::rmw_connextdds.base_application`](#ros2rmw_connextddsbase_application) +- [`ros2::rmw_connextdds.opt.large_data`](#ros2rmw_connextddsoptlarge_data) +- [`ros2::rmw_connextdds.opt.unbounded_data`](#ros2rmw_connextddsoptunbounded_data) +- [`ros2::rmw_connextdds.opt.content_filtered_topic_property`](#ros2rmw_connextddsoptcontent_filtered_topic_property) +- [`ros2::rmw_connextdds.opt.localhost_only`](#ros2rmw_connextddsoptlocalhost_only) +- [`ros2::rmw_connextdds.opt.fast_endpoint_discovery`](#ros2rmw_connextddsoptfast_endpoint_discovery) + +Most users should consider using profile [`ros2::rmw_connextdds.base_application`](#ros2rmw_connextddsbase_application) as the base profile to begin customization of the DDS QoS used by their applications. This profile will provide the same QoS settings used by default by `rmw_connextdds` (i.e. when no custom [runtime configuration](#rmw-runtime-configuration) is specified). -Alternatively, profiles [`ros2::rcl.builtin_endpoints`](#ros2--rclbuiltin-endpoints) -and [`ros2::rmw_connextdds.base_participant`](#ros2--rmw-connextddsbase-participant), -which are both already included in the inheritance chain of [`ros2::rmw_connextdds.base_application`](#ros2--rmw-connextddsbase-application), may be used directly +Alternatively, profiles [`ros2::rcl.builtin_endpoints`](#ros2rclbuiltin_endpoints) +and [`ros2::rmw_connextdds.base_participant`](#ros2rmw_connextddsbase_participant), +which are both already included in the inheritance chain of [`ros2::rmw_connextdds.base_application`](#ros2rmw_connextddsbase_application), may be used directly to, respectively, configure the QoS of all "built-in" endpoints created by the RMW and `rcl` layers, and to configure the QoS of the DomainParticipant created by `rmw_connextdds`. @@ -1078,9 +1078,9 @@ endpoints created by the RMW and `rcl` layers for every ROS 2 Node. These "built-in" endpoints include: -- Endpoints on topic `"ros_discovery_info"` (configured using profile [`ros2::rmw.ros_discovery_info`](#ros2--rmwros-discovery-info)). -- Endpoints on topics used for node parameters (configured using profile [`ros2::rcl.node_parameters`](#ros2--rclnode-parameters)). -- Endpoints on the ROS logging topic `"rosout"` (configured using profile [`ros2::rcl.log`](#ros2--rcllog)). +- Endpoints on topic `"ros_discovery_info"` (configured using profile [`ros2::rmw.ros_discovery_info`](#ros2rmwros_discovery_info)). +- Endpoints on topics used for node parameters (configured using profile [`ros2::rcl.node_parameters`](#ros2rclnode_parameters)). +- Endpoints on the ROS logging topic `"rosout"` (configured using profile [`ros2::rcl.log`](#ros2rcllog)). The parent profiles are applied using "topic filters" that select all required topics. @@ -1109,7 +1109,7 @@ to the user to configure this policy as needed in their own profiles. The asynchronous publish mode is still used for all "built-in" writers to allow them to continue to operate like "out of the box", even when writing large messages. -You might also consider inheriting directly from profile [`ros2::rcl.builtin_endpoints`](#ros2--rclbuiltin-endpoints), +You might also consider inheriting directly from profile [`ros2::rcl.builtin_endpoints`](#ros2rclbuiltin_endpoints), if you only want to configure the built-in endpoints but not the DomainParticipant QoS. #### ros2::rmw_connextdds.opt.large_data