From db087c3c8ceb2dab1fa7fa8bfe1db563c4073613 Mon Sep 17 00:00:00 2001 From: Raul Sanchez-Mateos Lizano Date: Fri, 31 Jan 2025 08:57:08 +0100 Subject: [PATCH] Fix default ros2 publication mode (#1025) * Fix default ros2 publication mode Signed-off-by: Raul Sanchez-Mateos * Update missed reference Signed-off-by: Raul Sanchez-Mateos --------- Signed-off-by: Raul Sanchez-Mateos (cherry picked from commit b7909d61ab603fa30f19b13a2f70b1eff96fe227) --- docs/fastdds/ros2/ros2_configure.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/fastdds/ros2/ros2_configure.rst b/docs/fastdds/ros2/ros2_configure.rst index f72a4eb68..baf467dab 100644 --- a/docs/fastdds/ros2/ros2_configure.rst +++ b/docs/fastdds/ros2/ros2_configure.rst @@ -24,7 +24,7 @@ This section describes how to specify this extended configuration. Changing publication mode ------------------------- -*rmw_fastrtps* in ROS 2 uses asynchronous publication by default. +*rmw_fastrtps* in ROS 2 uses synchronous publication by default. This can be easily changed setting the environment variable ``RMW_FASTRTPS_PUBLICATION_MODE`` to one of the following allowed values: @@ -66,7 +66,7 @@ Said parameters, and their default values under ROS 2, are: in a queue that is managed in a different thread, |br| meaning that the user thread is available right |br| after the call to send data. - - |ASYNCHRONOUS_PUBLISH_MODE-api| + - |SYNCHRONOUS_PUBLISH_MODE-api| .. _ros2_configure_xml: