From 20dee29bdf11b7d45cbac006a101494d1e6210b1 Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Mon, 3 Apr 2023 15:52:00 +0000 Subject: [PATCH] Add a note about asynchronicity of discovery. Signed-off-by: Chris Lalancette --- rmw/include/rmw/get_topic_endpoint_info.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/rmw/include/rmw/get_topic_endpoint_info.h b/rmw/include/rmw/get_topic_endpoint_info.h index 210fad89..8e873b87 100644 --- a/rmw/include/rmw/get_topic_endpoint_info.h +++ b/rmw/include/rmw/get_topic_endpoint_info.h @@ -31,6 +31,9 @@ extern "C" * the associated topic type, the publisher's gid, and the publisher QoS profile. * Names of non-existent topics are allowed, in which case an empty array will be returned. * + * Depending on the RMW in use, discovery may be asynchronous. Therefore, creating a publisher + * and then calling this API may not show the newly created publisher immediately. + * * \par QoS that are correctly read * The QoS profiles returned might have some invalid fields. * The rmw implementation must set the invalid fields to `RMW_QOS_POLICY_*_UNKNOWN`. @@ -113,6 +116,9 @@ rmw_get_publishers_info_by_topic( * the associated topic type, the subscription's gid, and the subscription QoS profile. * Names of non-existent topics are allowed, in which case an empty array will be returned. * + * Depending on the RMW in use, discovery may be asynchronous. Therefore, creating a subscription + * and then calling this API may not show the newly created subscription immediately. + * * \par QoS that are correctly read * Not all QoS may be read correctly, \sa rmw_get_publishers_info_by_topic() for more details. *