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pablogs9 merged 1 commit into from
Sep 16, 2024
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Update pub_sub.md #420

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4 changes: 2 additions & 2 deletions _docs/tutorials/programming_rcl_rclc/pub_sub/pub_sub.md
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Expand Up @@ -22,7 +22,7 @@ Ready to use code related to this concepts can be found in [`micro-ROS-demos/rcl

### Initialization

Starting from a code where RCL is initialized and a micro-ROS node is created, there are tree ways to initialize a publisher depending on the desired quality-of-service configuration:
Starting from a code where RCL is initialized and a micro-ROS node is created, there are three ways to initialize a publisher depending on the desired quality-of-service configuration:

- Reliable (default):
```c
Expand Down Expand Up @@ -249,4 +249,4 @@ rcl_publisher_fini(&publisher, &node);
rcl_subscription_fini(&subscriber, &node);
```

This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the client side.
This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the client side.