Merge pull request #35 from mauropasse/mauro/irobot-add-events-executor

Documentation updates

Author: iRobot ROS

rclcpp/include/rclcpp/executors/timers_manager.hpp

@@ -40,7 +40,8 @@ namespace executors
  *
  * Timers management
  * This class provides APIs to add and remove timers.
- * This class keeps ownership of the added timers through a shared pointer.
+ * It keeps a list of weak pointers from added timers, and owns them only when
+ * have expired and need to be executed.
  * Timers are kept ordered in a binary-heap priority queue.
  * Calls to add/remove APIs will temporarily block the execution of the timers and
  * will require to reorder the internal priority queue of timers.
@@ -73,8 +74,9 @@ class TimersManager
   ~TimersManager();
 
   /**
-   * @brief Adds a new TimerBase to the storage.
-   * This object will keep ownership of the timer.
+   * @brief Adds a new TimerBase::WeakPtr to the storage.
+   * This object will store a weak pointer of the added timer
+   * in a heap data structure.
    * @param timer the timer to be added
    */
   void add_timer(rclcpp::TimerBase::SharedPtr timer);