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Change links from index.ros.org -> docs.ros.org #539

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Jun 15, 2021
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Change links from index.ros.org -> docs.ros.org #539

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9 changes: 4 additions & 5 deletions README.md
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# ROS 2 Middleware Implementation for eProsima's Fast DDS

`rmw_fastrtps` constitutes __[ROS 2](https://index.ros.org/doc/ros2/) default middleware implementation__, providing an interface between ROS 2 and [eProsima's](https://www.eprosima.com/index.php) [Fast DDS](https://github.com/eProsima/Fast-DDS) middleware.
`rmw_fastrtps` is a [ROS 2](https://docs.ros.org/en/rolling) middleware implementation, providing an interface between ROS 2 and [eProsima's](https://www.eprosima.com/index.php) [Fast DDS](https://github.com/eProsima/Fast-DDS) middleware.

## Getting started
This implementation is available in all ROS 2 distributions, both from binaries and from sources.
You do not need to do anything in order to use Fast DDS as your ROS 2 middleware layer (since it is the default implementation).
However, you can still specify it in two different ways:
You can specify Fast DDS as your ROS 2 middleware layer in two different ways:

1. Exporting `RMW_IMPLEMENTATION` environment variable:
```bash
Expand All @@ -28,7 +27,7 @@ You can however set it to `rmw_fastrtps_dynamic_cpp` using the environment varia

## Advance usage

ROS 2 only allows for the configuration of certain middleware QoS (see [ROS 2 QoS policies](https://index.ros.org/doc/ros2/Concepts/About-Quality-of-Service-Settings/#qos-policies)).
ROS 2 only allows for the configuration of certain middleware QoS (see [ROS 2 QoS policies](https://docs.ros.org/en/foxy/Concepts/About-Quality-of-Service-Settings.html#qos-policies)).
In addition to ROS 2 QoS policies, `rmw_fastrtps` sets two more Fast DDS configurable parameters:

* History memory policy: `PREALLOCATED_WITH_REALLOC_MEMORY_MODE`
Expand All @@ -41,7 +40,7 @@ However, `rmw_fastrtps` offers the possibility to further configure Fast DDS:

### Change publication mode

Fast DDS feats two different [publication modes](https://fast-dds.docs.eprosima.com/en/v2.1.0/fastdds/dds_layer/core/policy/eprosimaExtensions.html?highlight=synchronous#publishmodeqospolicykind): synchronous and asynchronous.
Fast DDS features two different [publication modes](https://fast-dds.docs.eprosima.com/en/v2.1.0/fastdds/dds_layer/core/policy/eprosimaExtensions.html?highlight=synchronous#publishmodeqospolicykind): synchronous and asynchronous.
To learn more about the implications of choosing one mode over the other, please refer to [DDS: Asynchronous vs Synchronous Publishing](https://www.eprosima.com/index.php/resources-all/performance/dds-asynchronous-vs-synchronous-publishing):

`rmw_fastrtps` offers an easy way to change Fast DDS' publication mode without the need of defining a XML file. That is environment variable `RMW_FASTRTPS_PUBLICATION_MODE`.
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2 changes: 1 addition & 1 deletion rmw_fastrtps_cpp/QUALITY_DECLARATION.md
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Expand Up @@ -101,7 +101,7 @@ Unit, integration, and system tests higher up in the stack, such as those found

### Coverage [4.iii]

`rmw_fastrtps_cpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#coverage), and opts to use branch coverage instead of line coverage.
`rmw_fastrtps_cpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#code-coverage), and opts to use branch coverage instead of line coverage.

This includes:

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2 changes: 1 addition & 1 deletion rmw_fastrtps_shared_cpp/QUALITY_DECLARATION.md
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Expand Up @@ -101,7 +101,7 @@ Unit, integration, and system tests for `rmw_fastrtps_cpp` and `rmw_fastrtps_dyn

### Coverage [4.iii]

`rmw_fastrtps_shared_cpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#coverage), and opts to use branch coverage instead of line coverage.
`rmw_fastrtps_shared_cpp` follows the recommendations for ROS Core packages in the [ROS 2 Developer Guide](https://docs.ros.org/en/rolling/Contributing/Developer-Guide.html#code-coverage), and opts to use branch coverage instead of line coverage.

This includes:

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