From 2a7c61616db8077708cae62e90aa8f0a127a6acd Mon Sep 17 00:00:00 2001 From: Raul Sanchez-Mateos Date: Fri, 31 Jan 2025 07:46:27 +0100 Subject: [PATCH 1/2] Fix default ros2 publication mode Signed-off-by: Raul Sanchez-Mateos --- docs/fastdds/ros2/ros2_configure.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/fastdds/ros2/ros2_configure.rst b/docs/fastdds/ros2/ros2_configure.rst index f10d33112..0557161f9 100644 --- a/docs/fastdds/ros2/ros2_configure.rst +++ b/docs/fastdds/ros2/ros2_configure.rst @@ -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: From 4d365258f54a8672cada5df24c4f6d3899f753e3 Mon Sep 17 00:00:00 2001 From: Raul Sanchez-Mateos Date: Fri, 31 Jan 2025 08:02:38 +0100 Subject: [PATCH 2/2] Update missed reference Signed-off-by: Raul Sanchez-Mateos --- docs/fastdds/ros2/ros2_configure.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/fastdds/ros2/ros2_configure.rst b/docs/fastdds/ros2/ros2_configure.rst index 0557161f9..040e6bcb9 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: