fix

doc/10-concepts.md

@@ -161,8 +161,8 @@ rclpy.shutdown()       ── 清理
 ```
 
 ### 2.6 本仓库对照
-- Python:[`src/py_pubsub/py_pubsub/publisher_member_function.py`](../src/py_pubsub/py_pubsub/publisher_member_function.py)
-- C++:[`src/cpp_pubsub/src/publisher_member_function.cpp`](../src/cpp_pubsub/src/publisher_member_function.cpp)
+- Python:[`src/py_pubsub/py_pubsub/publisher_node.py`](../src/py_pubsub/py_pubsub/publisher_node.py)(类名 `ChatterPublisher`)
+- C++:[`src/cpp_pubsub/src/chatter_publisher.cpp`](../src/cpp_pubsub/src/chatter_publisher.cpp)(类名 `ChatterPublisher`)
 
 ---
 
@@ -486,21 +486,21 @@ executor.spin()
 ### 6.2 声明 / 读取 / 写
 
 ```python
-class Talker(Node):
-    def __init__(self):
-        super().__init__('talker_py')
-        # 声明参数 + 默认值
-        self.declare_parameter('period_ms', 500)
-        self.declare_parameter('topic', 'chatter')
+class ChatterPublisher(Node):
+    def __init__(self, *, node_name='chatter_publisher'):
+        super().__init__(node_name)
+        # 声明参数 + 默认值(实际类名 ChatterPublisher / 参数 publish_rate_hz)
+        self.declare_parameter('publish_rate_hz', 2.0)
+        self.declare_parameter('topic_name', 'chatter')
 
         # 读取
-        period = self.get_parameter('period_ms').value
-        topic = self.get_parameter('topic').value
+        rate = self.get_parameter('publish_rate_hz').value
+        topic = self.get_parameter('topic_name').value
 
-    def change_param(self, new_period):
+    def change_param(self, new_rate):
         # 运行时改
         param = rclpy.parameter.Parameter(
-            'period_ms', rclpy.Parameter.Type.INTEGER, new_period
+            'publish_rate_hz', rclpy.Parameter.Type.DOUBLE, new_rate
         )
         self.set_parameters([param])
 ```
@@ -508,12 +508,12 @@ class Talker(Node):
 ### 6.3 CLI 改参数
 
 ```bash
-ros2 param list                # 节点的所有参数
-ros2 param get /talker_py period_ms
-ros2 param set /talker_py period_ms 200
-ros2 param describe /talker_py period_ms
-ros2 param dump /talker_py > params.yaml    # 导出
-ros2 param load /talker_py params.yaml      # 加载
+ros2 param list                           # 节点的所有参数
+ros2 param get /chatter_publisher_py publish_rate_hz
+ros2 param set /chatter_publisher_py publish_rate_hz 5.0
+ros2 param describe /chatter_publisher_py publish_rate_hz
+ros2 param dump /chatter_publisher_py > params.yaml    # 导出
+ros2 param load /chatter_publisher_py params.yaml      # 加载
 ```
 
 ### 6.4 launch 中覆盖
@@ -521,24 +521,25 @@ ros2 param load /talker_py params.yaml      # 加载
 ```python
 Node(
     package='py_pubsub',
-    executable='talker',
-    parameters=[{'period_ms': 200, 'topic': 'chatter'}]   # 覆盖
+    executable='chatter_publisher',
+    name='chatter_publisher_py',
+    parameters=[{'publish_rate_hz': 5.0, 'topic_name': 'chatter'}],   # 覆盖
 )
 ```
 
 CLI 启动:
 ```bash
-ros2 run py_pubsub talker --ros-args -p period_ms:=200 -p topic:=hello
+ros2 run py_pubsub chatter_publisher --ros-args -p publish_rate_hz:=5.0 -p topic_name:=hello
 ```
 
 ### 6.5 YAML 文件
 
 ```yaml
 # config/params.yaml
-talker_py:
+chatter_publisher_py:
   ros__parameters:
-    period_ms: 200
-    topic: chatter
+    publish_rate_hz: 5.0
+    topic_name: chatter
 ```
 
 ```python