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Update Composition.rst #4065

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Dec 18, 2023
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Update Composition.rst #4065

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4 changes: 2 additions & 2 deletions source/Tutorials/Intermediate/Composition.rst
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Expand Up @@ -136,7 +136,7 @@ In this case the client sends a request to the server, the server processes the
Compile-time composition using ROS services
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

This demos shows that the same shared libraries can be reused to compile a single executable running multiple components.
This demo shows that the same shared libraries can be reused to compile a single executable running multiple components.
The executable contains all four components from above: talker and listener as well as server and client.

In the shell call (see `source code <https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/composition/src/manual_composition.cpp>`__):
Expand All @@ -155,7 +155,7 @@ Run-time composition using dlopen
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

This demo presents an alternative to run-time composition by creating a generic container process and explicitly passing the libraries to load without using ROS interfaces.
The process will open each library and create one instance of each "rclcpp::Node" class in the library `source code <https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/composition/src/dlopen_composition.cpp>`__).
The process will open each library and create one instance of each "rclcpp::Node" class in the library (`source code <https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/composition/src/dlopen_composition.cpp>`__).

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