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fix up documentation for zero copy api #895

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fix up documentation for zero copy api #895

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11 changes: 6 additions & 5 deletions rclcpp/include/rclcpp/publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -136,16 +136,17 @@ class Publisher : public PublisherBase
>::make_shared(size, this->get_allocator());
}

/// Loan memory for a ROS message from the middleware
/// Loan memory for a ROS message from the middleware.
/**
* If the middleware is capable of loaning memory for a ROS message instance,
* the loaned message will be directly allocated in the middleware.
* If not, the message allocator of this rclcpp::Publisher instance is being used.
*
* With a call to \sa `publish` the LoanedMessage instance is being returned to the middleware
* or free'd accordingly to the allocator.
* If the message is not being published but processed differently, the message has to be
* returned by calling \sa `return_loaned_message`.
* If the message is not being published but processed differently, the destructor of this
* class will either return the message to the middleware or deallocate it via the internal
* allocator.
* \sa rclcpp::LoanedMessage for details of the LoanedMessage class.
*
* \return LoanedMessage containing memory for a ROS message of type MessageT
Expand Down Expand Up @@ -215,9 +216,9 @@ class Publisher : public PublisherBase
return this->do_serialized_publish(&serialized_msg);
}

/// Publish an instance of a LoanedMessage
/// Publish an instance of a LoanedMessage.
/**
* When publishing a loaned message, the memory for this ROS instance will be deallocated
* When publishing a loaned message, the memory for this ROS message will be deallocated
* after being published.
* The instance of the loaned message is no longer valid after this call.
*
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1 change: 0 additions & 1 deletion rclcpp/include/rclcpp/subscription_base.hpp
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Expand Up @@ -138,7 +138,6 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
void
handle_message(std::shared_ptr<void> & message, const rmw_message_info_t & message_info) = 0;

// TODO(karsten1987): Does it make sense to pass in a weak_ptr?
RCLCPP_PUBLIC
virtual
void
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