avoid the term legacy for .msg/.srv/.action file format (ros2#268)

mlanting · Aug 17, 2020 · 32a7ed1 · 32a7ed1
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diff --git a/articles/110_interface_definition.md b/articles/110_interface_definition.md
@@ -14,7 +14,7 @@ categories: Interfaces
 # {{ page.title }}
 
 <div class="alert alert-warning" markdown="1">
-With the transition to use ``IDL`` for specifying interfaces in ROS 2 Dashing this article has been superseded by the [legacy interface definition](legacy_interface_definition.html) article.
+With the transition to use ``IDL`` for specifying interfaces in ROS 2 Dashing this article has been superseded by the [Interface definition using .msg / .srv / .action files](legacy_interface_definition.html) article.
 </div>
 
 <div class="abstract" markdown="1">

diff --git a/articles/111_mapping_dds_types.md b/articles/111_mapping_dds_types.md
@@ -14,7 +14,7 @@ categories: Interfaces
 # {{ page.title }}
 
 <div class="alert alert-warning" markdown="1">
-With the transition to use ``IDL`` for specifying interfaces in ROS 2 Dashing this article has been superseded by the [legacy interface definition](legacy_interface_definition.html) article.
+With the transition to use ``IDL`` for specifying interfaces in ROS 2 Dashing this article has been superseded by the mapping described in the [Interface definition using .msg / .srv / .action files](legacy_interface_definition.html) article.
 </div>
 
 <div class="abstract" markdown="1">

diff --git a/articles/143_legacy_interface_definition.md b/articles/143_legacy_interface_definition.md
@@ -1,6 +1,6 @@
 ---
 layout: default
-title: Legacy interface definition using .msg / .srv / .action files
+title: Interface definition using .msg / .srv / .action files
 permalink: articles/legacy_interface_definition.html
 abstract:
   This article specifies the file format coming from ROS 1 describing the data structures exchanged by ROS components to interact with each other.
@@ -21,7 +21,7 @@ Original Author: {{ page.author }}
 
 ## Scope
 
-This article specifies the legacy file format describing the data structures which are being used to exchange information between components.
+This article specifies the file format coming from ROS 1 describing the data structures which are being used to exchange information between components.
 The data structures are defined in a programming language agnostic way.
 The format is based on the [<code>.msg</code> format definition](http://wiki.ros.org/msg#Message_Description_Specification) from ROS 1.
 
@@ -261,11 +261,11 @@ A service file contains two message definitions which are separated by a line wh
 
 ## Conversion to IDL
 Code is generated for defined interfaces to be usable by different client libraries.
-Interfaces described using the legacy format are first converted to [IDL](idl_interface_definition.html).
+Interfaces described using the above format are first converted to [IDL](idl_interface_definition.html).
 Code generation uses the generated file.
 
 <div class="alert alert-info" markdown="1">
-  A structure defined in the legacy format can be empty / contain no members.
+  A structure defined in the above format can be empty / contain no members.
   In that case the generated `.idl` structure will have a dummy member
   (`uint8 structure_needs_at_least_one_member`) to satisfy the requirement from
   IDL of not being empty.