modify doc string regarding the requirement of asserting liveliness

aws-ros-dev · Apr 2, 2019 · 0984fb2 · 0984fb2
1 parent e6b33d4
commit 0984fb2
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diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
@@ -649,9 +649,8 @@ class Node : public std::enable_shared_from_this<Node>
   /// Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE)
   /**
    * If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE, the creator
-   * of this node must manually call `assert_liveliness` on a regular basis to signal to the rest
+   * of this node may manually call `assert_liveliness` at some point in time to signal to the rest
    * of the system that this Node is still alive.
-   * This function must be called at least as often as the qos_profile's liveliness_lease_duration
    */
   RCLCPP_PUBLIC
   bool

diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
@@ -141,9 +141,8 @@ class PublisherBase
   /// Manually assert that this Publisher is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
   /**
    * If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, the creator
-   * of this Publisher must manually call `assert_liveliness` on a regular basis to signal to the
+   * of this publisher may manually call `assert_liveliness` at some point in time to signal to the
    * rest of the system that this Node is still alive.
-   * This function must be called at least as often as the qos_profile's liveliness_lease_duration
    */
   RCLCPP_PUBLIC
   bool