{"action":"created","comment":{"url":"https://api.github.com/repos/ros2/ros_core_documentation/pulls/comments/80574784","id":80574784,"diff_hunk":"@@ -210,115 +213,123 @@ For a complete definition of the ``rcl`` |API|, see the |API| documentation:\n The ``rmw`` Repository\n ~~~~~~~~~~~~~~~~~~~~~~\n \n-The ROS middleware interface (``rmw`` |API|) is the minimal set of primitive middleware capabilities need to build ROS on top.\n+The ROS middleware interface (``rmw`` |API|) is the minimal set of primitive middleware capabilities needed to build ROS on top.\n Providers of different middleware implementations must implement this interface in order to support the entire ROS stack on top.\n Currently all of the middleware implementations are for different DDS vendors.\n \n-The ``rmw`` |API| is located in the ``ros2/rmw`` repository and contains two |packages|, ``rmw`` and ``rmw_cpp``.\n-The ``rmw`` |package| contains the C headers which define the interface, while the ``rmw_cpp`` |package| provides some C++ versions of the functions which also exist in the C interface.\n+The ``rmw`` |API| is located in the `ros2/rmw <https://github.com/ros2/rmw>`_ repository.\n+The ``rmw`` |package| contains the C headers which define the interface, the implementation of which is provided by the various |packages| of rmw implementations for different DDS vendors.\n \n For a definition of the ``rmw`` |API|, see the |API| docs:\n \n .. warning::\n \n     TODO: Link to the ``rmw`` |API| docs\n \n-Having C++ versions for part of the interface allows the use of native C++ message types which do not need to be converted into the C versions of the message to be used with the middleware interface.\n-Therefore, all of the C++ specific functions in ``rmw_cpp`` are actually only prototypes.\n-The implementation for these C++ functions is provided by code generated in message packages using the C++ ``rosidl`` generator, and typically require no extra support in the ROS middleware implementation being used.\n-The extra C++ functions would only be used by the C++ client library (``rclcpp``).\n \n The ``rosidl`` Repository\n ~~~~~~~~~~~~~~~~~~~~~~~~~\n \n The ``rosidl`` |API| consists of a few message related static functions and types along with a definition of what code should be generated by messages in different languages.\n-The generated message code in the |API| will be language specific, but may or may not reuse generated code for other languages.\n-The generated message code in the |API| contains things like the message data structure, functions for construction, destruction, etc.\n-In addition to the |API|, there is generated message code for the implementation of other parts of the system, e.g. for functions in the ``rmw`` |API| and the ``rcl`` |API|, but the generation of this kind of code is done mostly in middleware implementation specific |packages|.\n+The generated message code specified in the |API| will be language specific, but may or may not reuse generated code for other languages.\n+The generated message code specified in the |API| contains things like the message data structure, functions for construction, destruction, etc.\n+In addition to the generated message code specified in the ``rosidl`` |API|, there is generated message code for the implementation of other parts of the system, e.g. for functions in the ``rmw`` |API| and the ``rcl`` |API|, but the generation of this kind of code is done mostly in middleware implementation specific |packages|.\n \n-There are several repositories which play a role in the ``rosidl`` |API| and implementation.\n+There are several repositories that play a role in the ``rosidl`` |API| and implementation.\n \n-The ``rosidl`` repository, located on |GitHub|_ at `ros2/rosidl <https://github.com/ros2/rosidl>`_, defines the message IDL syntax, i.e. syntax of ``.msg``, ``.srv``, etc. files, and contains |packages| for parsing the files, for providing CMake infrastructure to generate code from the messages, for generating implementation agnostic code (headers and source files), and for establishing the default set of generators.\n+The ``rosidl`` repository, located on |GitHub|_ at `ros2/rosidl <https://github.com/ros2/rosidl>`_, defines the message IDL syntax, i.e. syntax of ``.msg`` files, ``.srv`` files, etc., and contains |packages| for parsing the files, for providing CMake infrastructure to generate code from the messages, for generating implementation agnostic code (headers and source files), and for establishing the default set of generators.\n The repository contains these |packages|:\n \n--  ``rosidl_cmake``: provides CMake functions and Modules for generating code from ``rosidl`` files, e.g. ``.msg``, ``.srv``, etc.\n--  ``rosidl_default_generators``: defines the list of default generators which ensures that they are installed as dependencies, but other injected generators will also be used.\n+-  ``rosidl_cmake``: provides CMake functions and Modules for generating code from ``rosidl`` files, e.g. ``.msg`` files, ``.srv`` files, etc.\n+-  ``rosidl_default_generators``: defines the list of default generators which ensures that they are installed as dependencies, but other injected generators can also be used.\n -  ``rosidl_generator_c``: provides tools to generate C header files (``.h``) for ``rosidl`` files.\n -  ``rosidl_generator_cpp``: provides tools to generate C++ header files (``.hpp``) for ``rosidl`` files.\n+-  ``rosidl_generator_py``: provides tools to generate Python modules for ``rosidl`` files.\n -  ``rosidl_parser``: provides Python |API| for parsing ``rosidl`` files.\n \n-Generators for other languages, e.g. ``rosidl_generator_py``, are hosted externally (in a different repository) but would use the same mechanism that ``rosidl_generator_c`` and ``rosidl_generator_cpp`` use to \"register\" themselves as a ``rosidl`` generator.\n+Generators for other languages, e.g. ``rosidl_generator_java``, are hosted externally (in different repositories) but would use the same mechanism that the above generators use to \"register\" themselves as a ``rosidl`` generator.\n+\n+In addition to the aforementioned |packages| for parsing and generating headers for the ``rosidl`` files, the ``rosidl`` repository also contains |packages| concerned with \"type support\" for the message types defined in the files.\n+Type support refers to the ability to interpret and manipulate the information represented by ROS message instances of particular types (serialization and deserialization, for example).","path":"doc/source/developer_overview.rst","position":211,"original_position":211,"commit_id":"8242963bace6133e1044039a32c0fb4a82e07a07","original_commit_id":"8242963bace6133e1044039a32c0fb4a82e07a07","user":{"login":"wjwwood","id":100427,"avatar_url":"https://avatars.githubusercontent.com/u/100427?v=3","gravatar_id":"","url":"https://api.github.com/users/wjwwood","html_url":"https://github.com/wjwwood","followers_url":"https://api.github.com/users/wjwwood/followers","following_url":"https://api.github.com/users/wjwwood/following{/other_user}","gists_url":"https://api.github.com/users/wjwwood/gists{/gist_id}","starred_url":"https://api.github.com/users/wjwwood/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wjwwood/subscriptions","organizations_url":"https://api.github.com/users/wjwwood/orgs","repos_url":"https://api.github.com/users/wjwwood/repos","events_url":"https://api.github.com/users/wjwwood/events{/privacy}","received_events_url":"https://api.github.com/users/wjwwood/received_events","type":"User","site_admin":false},"body":"It might be better to use `publish` and `take` as examples here, since technically serialization and deserialization code would be kept here, we don't currently do so because serialization is delegated to the DDS implementation.","created_at":"2016-09-26T21:14:09Z","updated_at":"2016-09-26T21:14:09Z","html_url":"https://github.com/ros2/ros_core_documentation/pull/1#discussion_r80574784","pull_request_url":"https://api.github.com/repos/ros2/ros_core_documentation/pulls/1","_links":{"self":{"href":"https://api.github.com/repos/ros2/ros_core_documentation/pulls/comments/80574784"},"html":{"href":"https://github.com/ros2/ros_core_documentation/pull/1#discussion_r80574784"},"pull_request":{"href":"https://api.github.com/repos/ros2/ros_core_documentation/pulls/1"}}},"pull_request":{"url":"https://api.github.com/repos/ros2/ros_core_documentation/pulls/1","id":86814939,"html_url":"https://github.com/ros2/ros_core_documentation/pull/1","diff_url":"https://github.com/ros2/ros_core_documentation/pull/1.diff","patch_url":"https://github.com/ros2/ros_core_documentation/pull/1.patch","issue_url":"https://api.github.com/repos/ros2/ros_core_documentation/issues/1","number":1,"state":"open","locked":false,"title":"Update 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