From cd8cc1f092a51a3b54cc936dab3c05d481537dd6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= Date: Thu, 17 Mar 2022 01:05:59 +0100 Subject: [PATCH] Fix parameter server memory requirements The parameter server actually uses 5 services, not 4. --- .../tutorials/programming_rcl_rclc/parameters/parameters.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md b/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md index afce0633..71697853 100644 --- a/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md +++ b/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md @@ -57,7 +57,7 @@ Note: micro-ROS parameter server is only supported on ROS 2 Galactic distributio ## Memory requirements -The parameter server uses 4 services and an optional publisher, this needs to be taken into account on the `rmw-microxredds` package memory configuration: +The parameter server uses 5 services and an optional publisher, this needs to be taken into account on the `rmw-microxredds` package memory configuration: ```json # colcon.meta example with memory requirements to use a parameter server @@ -68,7 +68,7 @@ The parameter server uses 4 services and an optional publisher, this needs to be "-DRMW_UXRCE_MAX_NODES=1", "-DRMW_UXRCE_MAX_PUBLISHERS=1", "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=0", - "-DRMW_UXRCE_MAX_SERVICES=4", + "-DRMW_UXRCE_MAX_SERVICES=5", "-DRMW_UXRCE_MAX_CLIENTS=0" ] } @@ -193,4 +193,4 @@ To destroy an initialized parameter server: rclc_parameter_server_fini(¶m_server, &node); ``` -This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the client side. \ No newline at end of file +This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the client side.