Tweak

Signed-off-by: Carlos Agüero <[email protected]>

Author: caguero

harmonic/ros2_integration.md

@@ -84,7 +84,7 @@ within this tag. Here's an example:
   <arg name="config_file" default="" />
   <arg name="container_name" default="ros_gz_container" />
   <arg name="namespace" default="" />
-  <arg name="use_composition" default="False" />
+  <arg name="use_composition" default="True" />
   <arg name="use_respawn" default="False" />
   <arg name="log_level" default="info" />
   <ros_gz_bridge 

harmonic/ros2_launch_gazebo.md

@@ -36,7 +36,7 @@ within this tag. Here's an example for launching Gazebo server:
   <arg name="world_sdf_file" default="empty.sdf" />
   <arg name="world_sdf_string" default="" />
   <arg name="container_name" default="ros_gz_container" />
-  <arg name="use_composition" default="False" />
+  <arg name="use_composition" default="True" />
   <gz_server 
     world_sdf_file="$(var world_sdf_file)"
     world_sdf_string="$(var world_sdf_string)"

harmonic/ros2_overview.md

@@ -33,3 +33,5 @@ tutorials, you'll notice that we have included in most cases a parameter named
 `use_composition`. When that parameter is set to `True`, the associated ROS
 node will be included within a ROS container. When this happens all the nodes
 live within the same process and can leverage intraprocess communication.
+
+You can learn more about ROS composition in [this tutorial](https://docs.ros.org/en/galactic/Tutorials/Intermediate/Composition.html).