Add documentation

Signed-off-by: Mauro Passerino <mpasserino@irobot.com>
ros2 · Oct 12, 2021 · fadadc8 · fadadc8
1 parent f4996c1
commit fadadc8
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Showing 3 changed files with 15 additions and 1 deletion.
diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
@@ -218,6 +218,13 @@ class ClientBase
 
   /// Get the actual QoS settings, after the defaults have been determined.
   /**
+   * The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
+   * can only be resolved after the creation of the client, and it
+   * depends on the underlying rmw implementation.
+   * If the underlying setting in use can't be represented in ROS terms,
+   * it will be set to RMW_QOS_POLICY_*_UNKNOWN.
+   * May throw runtime_error when an unexpected error occurs.
+   *
    * \return The actual qos settings.
    * \throws std::runtime_error if failed to get qos settings
    */

diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
@@ -124,6 +124,13 @@ class ServiceBase
 
   /// Get the actual QoS settings, after the defaults have been determined.
   /**
+   * The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
+   * can only be resolved after the creation of the service, and it
+   * depends on the underlying rmw implementation.
+   * If the underlying setting in use can't be represented in ROS terms,
+   * it will be set to RMW_QOS_POLICY_*_UNKNOWN.
+   * May throw runtime_error when an unexpected error occurs.
+   *
    * \return The actual qos settings.
    * \throws std::runtime_error if failed to get qos settings
    */

diff --git a/rclcpp/include/rclcpp/subscription_base.hpp b/rclcpp/include/rclcpp/subscription_base.hpp
@@ -107,7 +107,7 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
   /// Get the actual QoS settings, after the defaults have been determined.
   /**
    * The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
-   * can only be resolved after the creation of the publisher, and it
+   * can only be resolved after the creation of the subscription, and it
    * depends on the underlying rmw implementation.
    * If the underlying setting in use can't be represented in ROS terms,
    * it will be set to RMW_QOS_POLICY_*_UNKNOWN.