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Fix RCLC calls #288

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Merged
pablogs9 merged 1 commit into from
Mar 3, 2021
Merged

Fix RCLC calls #288

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18 changes: 9 additions & 9 deletions _docs/tutorials/core/programming_rcl_rclc/index.md
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@ if (rc != RCL_RET_OK) {
return -1;
}

rcl_node_t my_node = rcl_get_zero_initialized_node();
rcl_node_t my_node;
rc = rclc_node_init_default(&my_node, "my_node_name", "my_namespace", &support);
if (rc != RCL_RET_OK) {
... // Some error reporting.
Expand Down Expand Up @@ -202,7 +202,7 @@ A timer can be created with the rclc-package with the function

```C
// create a timer, which will call the publisher with period=`timer_timeout` ms in the 'my_timer_callback'
rcl_timer_t my_timer = rcl_get_zero_initialized_timer();
rcl_timer_t my_timer;
const unsigned int timer_timeout = 1000;
rc = rclc_timer_init_default(&my_timer, &support, RCL_MS_TO_NS(timer_timeout), my_timer_callback);
if (rc != RCL_RET_OK) {
Expand Down Expand Up @@ -232,7 +232,7 @@ rcl_ret_t rc;

// create rcl node
rc = rclc_support_init(&support, argc, argv, &allocator);
rcl_node_t my_node = rcl_get_zero_initialized_node();
rcl_node_t my_node;
rc = rclc_node_init_default(&my_node, "my_lifecycle_node", "rclc", &support);

// rcl state machine
Expand Down Expand Up @@ -379,11 +379,11 @@ int main(int argc, const char * argv[])
}
```

Next, you define a ROS 2 node `my_node` with `rcl_get_zero_initialized_node()` and initialize it with `rclc_executor_init_default()`:
Next, you define a ROS 2 node `my_node` and initialize it with `rclc_executor_init_default()`:

```C
// create rcl_node
rcl_node_t my_node = rcl_get_zero_initialized_node();
rcl_node_t my_node;
rc = rclc_node_init_default(&my_node, "node_0", "executor_examples", &support);
if (rc != RCL_RET_OK) {
printf("Error in rclc_node_init_default\n");
Expand All @@ -410,7 +410,7 @@ Note, that variable `my_pub` was defined globally, so it can be used by the time
You can create a timer `my_timer` with a period of one second, which executes the callback `my_timer_callback` like this:

```C
rcl_timer_t my_timer = rcl_get_zero_initialized_timer();
rcl_timer_t my_timer;
const unsigned int timer_timeout = 1000; // in ms
rc = rclc_timer_init_default(&my_timer, &support, RCL_MS_TO_NS(timer_timeout), my_timer_callback);
if (rc != RCL_RET_OK) {
Expand Down Expand Up @@ -805,7 +805,7 @@ First rcl is initialized with the `rclc_support_init` using the default `allocat

```C
// create rcl_node
rcl_node_t my_node = rcl_get_zero_initialized_node();
rcl_node_t my_node;
rc = rclc_node_init_default(&my_node, "node_0", "executor_examples", &support);
if (rc != RCL_RET_OK) {
printf("Error in rclc_node_init_default\n");
Expand All @@ -830,7 +830,7 @@ if (RCL_RET_OK != rc) {

// create timer 1
// - publishes 'my_string_pub' every 'timer_timeout' ms
rcl_timer_t my_string_timer = rcl_get_zero_initialized_timer();
rcl_timer_t my_string_timer;
const unsigned int timer_timeout = 100;
rc = rclc_timer_init_default(&my_string_timer, &support, RCL_MS_TO_NS(timer_timeout), my_timer_string_callback);
if (rc != RCL_RET_OK) {
Expand Down Expand Up @@ -859,7 +859,7 @@ Likewise, a second publisher `my_int_pub, which publishes an int message and its

// create timer 2
// - publishes 'my_int_pub' every 'timer_int_timeout' ms
rcl_timer_t my_int_timer = rcl_get_zero_initialized_timer();
rcl_timer_t my_int_timer;
const unsigned int timer_int_timeout = 10 * timer_timeout;
rc = rclc_timer_init_default(&my_int_timer, &support, RCL_MS_TO_NS(timer_int_timeout), my_timer_int_callback);
if (rc != RCL_RET_OK) {
Expand Down