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AP_DDS: Fix typos and out of date info

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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
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Ryan Friedman 2023-11-17 19:20:28 -07:00 committed by Randy Mackay
parent 213cba86af
commit 2d465a5b20
1 changed files with 2 additions and 4 deletions
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6
libraries/AP_DDS/README.md
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@ -149,8 +149,6 @@ Follow the steps to use the microROS Agent
- Do "Creating the micro-ROS agent"
- Source your ROS workspace
Until this [PR](https://github.com/micro-ROS/micro-ROS.github.io/pull/401) is merged, ignore the notes about `foxy`. It works on `humble`.
## Using the ROS 2 CLI to Read Ardupilot Data
After your setups are complete, do the following:
@ -252,7 +250,7 @@ In order to consume the transforms, it's highly recommended to [create and run a
## Using ROS 2 services
The `AP_DDS` libraary exposes services which are automatically mapped to ROS 2
The `AP_DDS` library exposes services which are automatically mapped to ROS 2
services using appropriate naming conventions for topics and message and service
types. An earlier version of `AP_DDS` required the use of the eProsima
[Integration Service](https://github.com/eProsima/Integration-Service) to map
@ -338,7 +336,7 @@ Note that a service interface always requires a Request / Response pair.
#### ROS 2 topic and service names
The ROS 2 design article: [Topic and Service name mapping to DDS](https://design.ros2.org/articles/topic_and_service_names.html) describes the mapping of ROS 2 topic and service
names to DDS. Each ROS 2 subsytem is provided a prefix when mapped to DDS.
names to DDS. Each ROS 2 subsystem is provided a prefix when mapped to DDS.
The request / response pair for services require an additional suffix.
| ROS 2 subsystem | DDS Prefix | DDS Suffix |