From 45c4a698c31f23002b4ca389c2928cfbd8abe2cb Mon Sep 17 00:00:00 2001 From: Borja Outerelo Date: Fri, 19 Oct 2018 10:14:12 +0200 Subject: [PATCH] Refs #3486. Adds some wording improvements. --- README.md | 45 +++++++++++++++++++++------------------------ 1 file changed, 21 insertions(+), 24 deletions(-) diff --git a/README.md b/README.md index f423928..70e7cfa 100644 --- a/README.md +++ b/README.md @@ -1,34 +1,31 @@ - +# Micro ROS Agent -# Overview +## Overview -This repo contains the Micro-Ros Agent package. -Micro-Ros Agent is a ROS2 node that wrapps the Micro XRCE-DDS Agent. -For farther information about Micro XRCE-DDA Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent) -This package is a part of the Micro-ROS poject stack. -For more information about Micro-ROS project click [here](). +This repository contains the Micro-ROS Agent package. +Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent. +For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent) +This package is a part of the Micro-ROS project stack. +For more information about Micro-ROS project click [here](https://microros.github.io/micro-ROS/). -The node acts as a server between DDS Network and Micro-ROS nodes. -It will receive messages containing operations from Micro-ROS nodes, keep track of the Micro-ROS nodes. -The node will interact with DDS Global Data Space on behalf of the Micro-ROS nodes. +The node acts as a server between DDS Network and Micro-ROS nodes inside MCU. +It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network. +The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes. -While the node is running, it attends any received request from the Micro-ROS nodes and will answers back with the result of a request each time a request is attended. +## Package features +### XML generation -# Package features +During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles. +These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content. +This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer. -## XML generation +### Agent-Client communication mechanism -During the build proces, the package will look for all ROS2 / Micro-ROS messages in order to generare XML profiles. -This XML file can be referenced in the Agent-Client comunication in order to avoid sending the full XML content. +Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport: +- UDP. +- SerialPort. -## Agent-Client comunication mechanims - -Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two kind transports: -- UDP -- SerialPort. - - -All available configurations are supported direcly by the Micro XRCE-DDS agent. -For farther information how configure the agent click [here](). \ No newline at end of file +All available configurations are supported directly by the Micro XRCE-DDS agent. +For further information on how to configure the agent click [here](TODO). \ No newline at end of file