Fixing documentation.

communication.md

@@ -11,6 +11,9 @@ in this case. All agents will have the same value for ROS_DOMAIN_ID.
 - Use JSON coding of messages and send the encoded message between agents using an MQTT
   broker. All agents will have different value for ROS_DOMAIN_ID.
 
+We want to minimize the regular communication between agents.  One
+special proble is /tf so we will soon change the code here to use /ns/tf for the tf.
+
 
 ## Issues
 
@@ -22,31 +25,15 @@ in this case. All agents will have the same value for ROS_DOMAIN_ID.
 
 ## ROS2
 
-If we use ROS2 for inter agent communication we just listen to topics
-from other agents. The topics which are used across agents are:
+No topics should be sent regularly between agents using ROS2.
 
-- /tf
-- [/unit_info](https://gitlab.liu.se/lrs2/lrs_msgs_common/-/blob/master/msg/UnitInfo.msg)
-- [/unit_info_slow](https://gitlab.liu.se/lrs2/lrs_msgs_common/-/blob/master/msg/UnitInfoSlow.msg)
-- [/resources_info](https://gitlab.liu.se/lrs2/lrs_msgs_common/-/blob/master/msg/ResourcesInfo.msg)
-- /visualization_marker
-- /visualization_marker_array
-- [/distribute_tree](https://gitlab.liu.se/lrs2/lrs_msgs_tst/-/blob/master/msg/TSTDistributeTreeInfo.msg)
-- [/update_node](https://gitlab.liu.se/lrs2/lrs_msgs_tst/-/blob/master/msg/TSTUpdateNodeInfo.msg)
-- [/response](https://gitlab.liu.se/lrs2/lrs_msgs_common/-/blob/master/msg/Response.msg)
-- /tst_display_request
-- ADD NEW TOPICS...
-
-Here we probably need to fine tune DDS to get wanted communication
-properties. This has not been done yet. Also the global /tf will not
-work with many agents. So how should that be handled? One alternative
-is to use agent specific tf topics like (/dji0/tf) with full frequency
-and have a reduced topic /tf. The disadvantage is that we will have
-issues with tools like RVIZ if we want to show many agents at the same
-time.
 
 ## JSON and MQTT Broker
 
+This still works but we now prefer to not send any data this
+way. Instead the main Wara-ps broker is used to forward some data
+between agents.
+
 Each agent must have a unique ROS_DOMAIN_ID. This can be impractical...
 
 When using an MQTT broker to communicate between ROS2 agents (and also