Refactoring execution.

communication.md

@@ -4,11 +4,7 @@ We have the problem with how to communicate between different agents
 when we most probably have unreliable or band width limited
 communication channels between agents.
 
-We also have the issue that there is a legacy implementation in ROS1
-we want to be compatible with.
-
-For a system with only ROS2 agents we can choose one of the
-following way to communicate between agents:
+We can choose one of the following way to communicate between agents:
 
 - Use ROS2. We need to make sure the DDS layer is configured correctly
 in this case. All agents will have the same value for ROS_DOMAIN_ID.
@@ -38,9 +34,8 @@ from other agents. The topics which are used across agents are:
 - [/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_expand_command
-- /tst_expand_response
 - /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