Call "RMW-compatible" messages "RMW-native" instead

rclrs_examples/src/message_demo.rs

@@ -73,7 +73,7 @@ fn demonstrate_printing() {
     println!("{:?}", default_msg);
     println!("================== Pretty debug representation ===================");
     println!("{:#?}", default_msg);
-    // The RMW-compatible message type has the same output
+    // The RMW-native message type has the same output
     let default_rmw_msg = rclrs_example_msgs::msg::rmw::VariousTypes::default();
     assert_eq!(
         format!("{:?}", default_msg),
@@ -111,7 +111,7 @@ fn demonstrate_sequences() {
 
 fn demonstrate_pubsub() -> Result<(), Error> {
     println!("================== Interoperability demo ==================");
-    // Demonstrate interoperability between idiomatic and RMW-compatible message types
+    // Demonstrate interoperability between idiomatic and RMW-native message types
     let context = rclrs::Context::new(env::args())?;
     let mut node = context.create_node("message_demo")?;
 
@@ -135,13 +135,13 @@ fn demonstrate_pubsub() -> Result<(), Error> {
             "topic",
             rclrs::QOS_PROFILE_DEFAULT,
             move |_msg: rclrs_example_msgs::msg::rmw::VariousTypes| {
-                println!("Got RMW-compatible message!")
+                println!("Got RMW-native message!")
             },
         )?;
     println!("Sending idiomatic message.");
     idiomatic_publisher.publish(rclrs_example_msgs::msg::VariousTypes::default())?;
     rclrs::spin_once(&node, None)?;
-    println!("Sending RMW-compatible message.");
+    println!("Sending RMW-native message.");
     direct_publisher.publish(rclrs_example_msgs::msg::rmw::VariousTypes::default())?;
     rclrs::spin_once(&node, None)?;
 

rosidl_runtime_rs/src/traits.rs

@@ -31,7 +31,7 @@ pub trait SequenceAlloc: Sized {
     fn sequence_copy(in_seq: &crate::Sequence<Self>, out_seq: &mut crate::Sequence<Self>) -> bool;
 }
 
-/// Trait for RMW-compatible messages.
+/// Trait for RMW-native messages.
 ///
 /// See the documentation for the [`Message`] trait, which is the trait that should generally be
 /// used by user code.
@@ -46,22 +46,22 @@ pub trait RmwMessage: Clone + Debug + Default {
 ///
 /// `rosidl_generator_rs` generates two types of messages that implement this trait:
 /// - An "idiomatic" message type, in the `${package_name}::msg` module
-/// - An "RMW-compatible" message type, in the `${package_name}::msg::rmw` module
+/// - An "RMW-native" message type, in the `${package_name}::msg::rmw` module
 ///
 /// # Idiomatic message type
 /// The idiomatic message type aims to be familiar to Rust developers and ROS 2 developers coming
 /// from `rclcpp`.
 /// To this end, it translates the original ROS 2 message into a version that uses idiomatic Rust
 /// structs: [`std::vec::Vec`] for sequences and [`std::string::String`] for strings. All other
-/// fields are the same as in an RMW-compatible message.
+/// fields are the same as in an RMW-native message.
 ///
 /// This conversion incurs some overhead when reading and publishing messages.
 ///
-/// It's possible to use the idiomatic type for a publisher and the RMW-compatible type for a
+/// It's possible to use the idiomatic type for a publisher and the RMW-native type for a
 /// corresponding subscription, and vice versa.
 ///
-/// # RMW-compatible message type
-/// The RMW-compatible message type aims to achieve higher performance by avoiding the conversion
+/// # RMW-native message type
+/// The RMW-native message type aims to achieve higher performance by avoiding the conversion
 /// step to an idiomatic message.
 ///
 /// It uses the following type mapping:
@@ -88,7 +88,7 @@ pub trait RmwMessage: Clone + Debug + Default {
 /// iteration and all of the functionality of slices. However, it doesn't have an equivalent of
 /// [`Vec::push()`], among others.
 ///
-/// ## What does "RMW-compatible" mean in detail?
+/// ## What does "RMW-native" mean in detail?
 /// The message can be directly passed to and from the RMW layer because (1) its layout is
 /// identical to the layout of the type generated by `rosidl_generator_c` and (2) the dynamic
 /// memory inside the message is owned by the C allocator.
@@ -127,19 +127,19 @@ pub trait RmwMessage: Clone + Debug + Default {
 /// The `Drop` impl for any sequence or string will call `fini()`.
 
 pub trait Message: Clone + Debug + Default + 'static {
-    /// The corresponding RMW-compatible message type.
+    /// The corresponding RMW-native message type.
     type RmwMsg: RmwMessage;
 
-    /// Converts the idiomatic message into an RMW-compatible message.
+    /// Converts the idiomatic message into an RMW-native message.
     ///
     /// If the idiomatic message is owned, a slightly more efficient conversion is possible.
     /// This is why the function takes a `Cow`.
     ///
-    /// If this function receives a borrowed message that is already RMW-compatible, it should
+    /// If this function receives a borrowed message that is already RMW-native, it should
     /// directly return that borrowed message.
     /// This is why the return type is also `Cow`.
     fn into_rmw_message(msg_cow: Cow<'_, Self>) -> Cow<'_, Self::RmwMsg>;
 
-    /// Converts the RMW-compatible message into an idiomatic message.
+    /// Converts the RMW-native message into an idiomatic message.
     fn from_rmw_message(msg: Self::RmwMsg) -> Self;
 }