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microxrcedds_rmw_configuration: minor typo #292

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pablogs9 merged 2 commits into from
Mar 12, 2021
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microxrcedds_rmw_configuration: minor typo #292

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microxrcedds_rmw_configuration: minor typo
gavanderhoorn Mar 11, 2021
29a727f
Update _docs/tutorials/core/microxrcedds_rmw_configuration/index.md
pablogs9 Mar 12, 2021
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6 changes: 3 additions & 3 deletions _docs/tutorials/core/microxrcedds_rmw_configuration/index.md
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Expand Up @@ -16,10 +16,10 @@ micro-ROS deals with two different memory resources related with the Micro XRCE-

### Micro XRCE-DDS

Micro XRCE-DDS messages flow between Client and Agent throw **streams**.
A stream represents an independent ordered flow of information, so it is a sort of messaging queue.
Micro XRCE-DDS messages flow between Client and Agent through **streams**.
A stream represents an independently ordered flow of information, so it is a sort of messaging queue.
There are two kinds of streams, **best-effort** and **reliable**.
Both best-effort and reliable streams, have a raw buffer (`uint8_t` array) associated with them, but the layout is different.
Both best-effort and reliable streams have a raw buffer (`uint8_t` array) associated with them, but the layout is different.

On the one hand, best-effort streams could be interpreted as a single message queue.
Therefore, the raw buffer is a single data buffer where only one message is popped/pushed.
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