Update _docs/tutorials/core/programming_rcl_rclc/index.md

JanStaschulat · ralph-lange · web-flow · commit a7a012411639 · 2020-06-02T10:37:38.000Z
Co-authored-by: Ralph Lange &lt;ralph-lange@users.noreply.github.com&gt;
diff --git a/_docs/tutorials/core/programming_rcl_rclc/index.md b/_docs/tutorials/core/programming_rcl_rclc/index.md
@@ -512,7 +512,7 @@ typedef struct
 ```
 The executor for the publishers shall publish when any of corresponding timers for the publishers is ready. That is the or-logic. You could also use the predefined  `rclc_executor_trigger_any` trigger condition, but this example shows how you can write your own trigger conditions.
 
-In principle the condition gets a list of handles, the length of this list, and the pre-defined condition type, in this case we expect `pub_trigger_object_t`. First, the parameter `obj` is cased to this type (`comm_obj`). Then, each element of the handle list is checked for new data (or a timer is ready) by evaluating the field `handles[i].data_available` and its handle pointer is compared to the pointer of the communicatoin object. If at least one timer is ready, then the trigger condition returns true.
+In principle, the condition gets a list of handles, the length of this list, and the pre-defined condition type. In this case, we expect `pub_trigger_object_t`. First, the parameter `obj` is cased to this type (`comm_obj`). Then, each element of the handle list is checked for new data (or a timer is ready) by evaluating the field `handles[i].data_available` and its handle pointer is compared to the pointer of the communicatoin object. If at least one timer is ready, then the trigger condition returns true.
 ```C
 bool pub_trigger(rclc_executor_handle_t * handles, unsigned int size, void * obj)
 {

Original file line number	Diff line number	Diff line change
`@@ -512,7 +512,7 @@ typedef struct`
`512`	`512`	```
`513`	`513`	The executor for the publishers shall publish when any of corresponding timers for the publishers is ready. That is the or-logic. You could also use the predefined `rclc_executor_trigger_any` trigger condition, but this example shows how you can write your own trigger conditions.
`514`	`514`
`515`		-In principle the condition gets a list of handles, the length of this list, and the pre-defined condition type, in this case we expect `pub_trigger_object_t`. First, the parameter `obj` is cased to this type (`comm_obj`). Then, each element of the handle list is checked for new data (or a timer is ready) by evaluating the field `handles[i].data_available` and its handle pointer is compared to the pointer of the communicatoin object. If at least one timer is ready, then the trigger condition returns true.
	`515`	+In principle, the condition gets a list of handles, the length of this list, and the pre-defined condition type. In this case, we expect `pub_trigger_object_t`. First, the parameter `obj` is cased to this type (`comm_obj`). Then, each element of the handle list is checked for new data (or a timer is ready) by evaluating the field `handles[i].data_available` and its handle pointer is compared to the pointer of the communicatoin object. If at least one timer is ready, then the trigger condition returns true.
`516`	`516`	```C
`517`	`517`	`bool pub_trigger(rclc_executor_handle_t * handles, unsigned int size, void * obj)`
`518`	`518`	`{`