note that lazy publishers are possible in iron and later

MigYang · Nov 17, 2023 · 2671caf · 2671caf
1 parent fffa858
commit 2671caf
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/rclcpp/workarounds.md b/rclcpp/workarounds.md
@@ -2,9 +2,9 @@
 
 ## Lazy Publishers
 
-ROS2 does not yet have subscriber connect callbacks. This code creates
-a function which is called periodically to check if we need to start
-or stop subscribers:
+Prior to the Iron release, ROS 2 did not support subscriber connect
+callbacks. This code creates a function which is called periodically
+to check if we need to start or stop subscribers:
 
 ```cpp
 #include <rclcpp/rclcpp.hpp>
@@ -76,4 +76,4 @@ private:
   image_transport::CameraPublisher pub_;
   rclcpp::TimerBase::SharedPtr timer_;
 };
-```
+```