[dmarshant]

This update is part of #6826

Description

Created an About Nodes article based on information across multiple other articles.

Fixes #6826

Did you use Generative AI?

No

Additional Information

Documentation updates from 3di Information Solutions, agreed with Geoff and Tully.

Should be backported to Lyrical

[vmbrasseur]

👍

[kscottz]

I added a few comments. This is acceptable as is but I do feel like it could use more concrete descriptions. I added more context in a few spots.

One thing we should probably discuss is the "managed nodes" moniker. I get that the docs used "managed node" and "lifecycle node" interchangeably but I think we should shorten just pick one and stick with it.

@fujitatomoya @christophebedard thoughts?

[ahcorde]

Suggested change

	Concepts/Basic/About-Discovery
	Concepts/Basic/About-Discovery
	ROS-Framework/nodes/About-Discovery

[dmarshant]

The ROS-Framework/nodes/About-Discovery article no longer exists -- its content has been included in this about-nodes article instead

[dmarshant]

@kscottz @fujitatomoya @ahcorde I've updated the article with your feedback, many thanks.
FYI @vmbrasseur

[ahcorde]

• Missing redirect: ROS-Framework/nodes/About-Discovery is deleted, but its current URL (live on rolling and lyrical) isn't redirected.

• "Nodes are written as subclasses of the Node class": not quite right. Nodes can be created without subclassing, and rclc (C) has no classes.

• "Each node runs separately in its own runtime environment": the next sentence and the composable nodes section say the opposite. I'd remove it.

• The Launch-Main.rst change seems out of scope and leaves an empty .. toctree::. Either remove the directive or move this to a separate PR.

• Link "server-client discovery" to the Discovery Server page.

• Summary: "behavior of nodes can be configured using parameters". Remapping, namespaces and QoS overrides configure nodes too.

[ahcorde]

conflicts