From 5631115cdf65549955adf4c93f122c5bac2c916a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Wed, 3 Jul 2024 16:35:17 +0200
Subject: [PATCH] Tweak
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 harmonic/ros2_integration.md   | 2 +-
 harmonic/ros2_launch_gazebo.md | 2 +-
 harmonic/ros2_overview.md      | 2 ++
 3 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/harmonic/ros2_integration.md b/harmonic/ros2_integration.md
index ec41a6647..f4330cd29 100644
--- a/harmonic/ros2_integration.md
+++ b/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 
diff --git a/harmonic/ros2_launch_gazebo.md b/harmonic/ros2_launch_gazebo.md
index 8fdc21261..096c8625e 100644
--- a/harmonic/ros2_launch_gazebo.md
+++ b/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)"
diff --git a/harmonic/ros2_overview.md b/harmonic/ros2_overview.md
index 4bcfd4b09..79fdaf581 100644
--- a/harmonic/ros2_overview.md
+++ b/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).