From 98e842c9a3d145bb8f60bf513cc014de070ed086 Mon Sep 17 00:00:00 2001 From: Christophe Bedard Date: Fri, 11 Oct 2024 15:53:51 -0700 Subject: [PATCH] Fix typo and composition link in README Signed-off-by: Christophe Bedard --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 880e009db..6dde2dc93 100644 --- a/README.md +++ b/README.md @@ -377,14 +377,14 @@ def generate_launch_description(): ## Using with composition Play and record are fundamental tasks of `rosbag2`. However, playing or recording data at high rates may have limitations (e.g. spurious packet drops) due to one of the following: -- low network bandwith +- low network bandwidth - high CPU load - slow mass memory - ROS 2 middleware serialization/deserialization delays & overhead ROS 2 C++ nodes can benefit from intra-process communication to partially or completely bypass network transport of messages between two nodes. -Multiple _components_ can be _composed_, either [statically](https://docs.ros.org/en/rolling/Tutorials/Intermediate/Composition.html#compile-time-composition-using-ros-services) or [dynamically](https://docs.ros.org/en/rolling/Tutorials/Intermediate/Composition.html#run-time-composition-using-ros-services-with-a-publisher-and-subscriber): all the composed component will share the same address space because they will be loaded in a single process. +Multiple _components_ can be _composed_, either [statically](https://docs.ros.org/en/rolling/Tutorials/Intermediate/Composition.html#compile-time-composition-with-hardcoded-nodes) or [dynamically](https://docs.ros.org/en/rolling/Tutorials/Intermediate/Composition.html#run-time-composition-using-ros-services-with-a-publisher-and-subscriber): all the composed component will share the same address space because they will be loaded in a single process. A prerequirement is for each C++ node to be [_composable_](https://docs.ros.org/en/rolling/Concepts/Intermediate/About-Composition.html?highlight=composition) and to follow the [guidelines](https://docs.ros.org/en/rolling/Tutorials/Demos/Intra-Process-Communication.html?highlight=intra) for efficient publishing & subscription.