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Rephrase section on connecting to non-ROS DDS Topics. #125

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Rephrase section on connecting to non-ROS DDS Topics. #125

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8 changes: 4 additions & 4 deletions articles/140_topic_and_service_name_mapping.md
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Expand Up @@ -309,14 +309,14 @@ Another option would be to have some markup in the scheme name, for example:
|---------------------------------------|---------------------|-----------------------------|
| `rostopic://image` | `image` | [`rt`] |
| `rostopic+exact://image` | `image` | [] |
| `rostopic+exact://camera_left/image` | `camera_left/image` | [] |
| `rostopic+exact://camera_left/image` | `image` | [`camera_left`] |

Considering the third case, it's not clear if the `/` should be respected or if additional syntax is required to support partitions in the case of "exact" topic names.
You could also imagine:
Note that since `/` is not a valid character in DDS Topic names, anything other than the last token must be necessarily mapped to the DDS Partition.
I.e. the following is not valid:

| ROS Name | DDS Topic | DDS Partition |
|-----------------------------------------|---------------------|-----------------------------|
| `rostopic+exact+ns://camera_left/image` | `image` | [`camera_left`] |
| `rostopic+exact+ns://camera_left/image` | `camera_left/image` | [] |
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Maybe the +ns should be removed here, and it should be taken as "this interpretation of rostopic+exact:// is incorrect".

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Oops, the +ns slipped past me...


## Compare and Contrast with ROS 1

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