From 2b894486231bb0fc1bc4bc77590cfaba75a6b000 Mon Sep 17 00:00:00 2001 From: Dave Coleman Date: Mon, 28 Jan 2019 09:39:26 -0700 Subject: [PATCH] Clarify what not_compsable.cpp means --- rclcpp/minimal_action_server/README.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/rclcpp/minimal_action_server/README.md b/rclcpp/minimal_action_server/README.md index 6ca790d3..4b8785ca 100644 --- a/rclcpp/minimal_action_server/README.md +++ b/rclcpp/minimal_action_server/README.md @@ -1,3 +1,7 @@ # Minimal action server cookbook recipes -This package contains a few examples which show how to create action servers. +This package contains an example which shows how to create an action server. + +"Composable" refers to the ability for a node to be used as part of a Composition (running multiple nodes in a single process). + +Note that not_composable.cpp instantiates a rclcpp::Node without subclassing it. This was the typical usage model in ROS 1, but unfortunately this style of coding is not compatible with composing multiple nodes into a single process. Thus, it is no longer the recommended style for ROS 2.