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USER_QOS_PROFILES.xml
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USER_QOS_PROFILES.xml
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<?xml version="1.0"?>
<!--
Description
XML QoS Profile for cros2_typess
(c) Copyright, Real-Time Innovations, 2012. All rights reserved.
RTI grants Licensee a license to use, modify, compile, and create derivative
works of the software solely for use with RTI Connext DDS. Licensee may
redistribute copies of the software provided that all such copies are
subject to this license. The software is provided "as is", with no warranty
of any type, including any warranty for fitness for any purpose. RTI is
under no obligation to maintain or support the software. RTI shall not be
liable for any incidental or consequential damages arising out of the use
or inability to use the software.
The QoS configuration of the DDS entities in the generated example is loaded
from this file.
This file is used only when it is in the current working directory or when the
environment variable NDDS_QOS_PROFILES is defined and points to this file.
The profile in this file inherits from the builtin QoS profile
BuiltinQosLib::Generic.StrictReliable. That profile, along with all of the
other built-in QoS profiles can be found in the
BuiltinProfiles.documentationONLY.xml file located in the
$NDDSHOME/resource/xml/ directory.
You may use any of these QoS configurations in your application simply by
referring to them by the name shown in the
BuiltinProfiles.documentationONLY.xml file and listed below:
* Library "BuiltinQosLib":
** Baseline
** Baseline.5.0.0
** Baseline.5.1.0
** Baseline.5.2.0
** Generic.Common
** Generic.510TransportCompatibility
** Generic.Monitoring.Common
** Generic.ConnextMicroCompatibility
** Generic.OtherDDSVendorCompatibility
** Generic.StrictReliable
** Generic.KeepLastReliable
** Generic.BestEffort
** Generic.StrictReliable.HighThroughput
** Generic.StrictReliable.LowLatency
** Generic.Participant.LargeData
** Generic.Participant.LargeData.Monitoring
** Generic.StrictReliable.LargeData
** Generic.KeepLastReliable.LargeData
** Generic.StrictReliable.LargeData.FastFlow
** Generic.StrictReliable.LargeData.MediumFlow
** Generic.StrictReliable.LargeData.SlowFlow
** Generic.KeepLastReliable.LargeData.FastFlow
** Generic.KeepLastReliable.LargeData.MediumFlow
** Generic.KeepLastReliable.LargeData.SlowFlow
** Generic.KeepLastReliable.TransientLocal
** Generic.KeepLastReliable.Transient
** Generic.KeepLastReliable.Persistent
** Generic.AutoTuning
** Pattern.PeriodicData
** Pattern.Streaming
** Pattern.ReliableStreaming
** Pattern.Event
** Pattern.AlarmEvent
** Pattern.Status
** Pattern.AlarmStatus
** Pattern.LastValueCache
Also, following the QoS Profile composition pattern you can use QoS Snippets
to easily create your final QoS Profile. For further information visit:
https://community.rti.com/best-practices/qos-profile-inheritance-and-composition-guidance
There is a QoS Snippet library that contains a collection of
QoS Snippets that set some specific features or configurations.
* Library "BuiltinQosSnippetLib":
** Optimization.ReliabilityProtocol.Common
** Optimization.ReliabilityProtocol.KeepAll
** Optimization.ReliabilityProtocol.KeepLast
** Optimization.ReliabilityProtocol.HighRate
** Optimization.ReliabilityProtocol.LowLatency
** Optimization.ReliabilityProtocol.LargeData
** Optimization.DataCache.LargeData.DynamicMemAlloc
** Optimization.Discovery.Common
** Optimization.Discovery.Participant.Properties.Compact
** Optimization.Discovery.Endpoint.Fast
** Optimization.Transport.LargeBuffers
** QosPolicy.Reliability.Reliable
** QosPolicy.Reliability.BestEffort
** QosPolicy.History.KeepLast_1
** QosPolicy.History.KeepAll
** QosPolicy.PublishMode.Asynchronous
** QosPolicy.Durability.TransientLocal
** QosPolicy.Durability.Transient
** QosPolicy.Durability.Persistent
** QosPolicy.Batching.Enable
** Feature.FlowController.838Mbps
** Feature.FlowController.209Mbps
** Feature.FlowController.52Mbps
** Feature.AutoTuning.Enable
** Feature.Monitoring.Enable
** Feature.Security.Enable
** Feature.TopicQuery.Enable
** Transport.TCP.LAN.Client
** Transport.TCP.WAN.Symetric.Client
** Transport.TCP.WAN.Asymetric.Server
** Transport.TCP.WAN.Asymetric.Client
** Compatibility.ConnextMicro.Version243
** Compatibility.OtherDDSVendor.Enable
** Compatibility.510Transport.Enable
You should not edit the file BuiltinProfiles.documentationONLY.xml directly.
However, if you wish to modify any of the values in a built-in profile, the
recommendation is to create a profile of your own and inherit from the built-in
profile you wish to modify. The NDDS_QOS_PROFILES.example.xml file (contained in
the same directory as the BuiltinProfiles.documentationONLY.xml file) shows how
to inherit from the built-in profiles.
For more information about XML QoS Profiles see the "Configuring QoS with
XML" chapter in the RTI Connext DDS Core Libraries User's Manual.
-->
<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/6.0.1/rti_dds_qos_profiles.xsd">
<!-- QoS Library containing the QoS profile used in the generated example.
A QoS library is a named set of QoS profiles.
-->
<qos_library name="cros2_types_Library">
<!-- QoS profile used to configure reliable communication between the DataWriter
and DataReader created in the example code.
A QoS profile groups a set of related QoS.
-->
<qos_profile name="cros2_types_Profile" base_name="BuiltinQosLib::Generic.StrictReliable" is_default_qos="true">
<!--qos_profile name="cros2_types_Profile" base_name="BuiltinQosLib::Generic.BestEffort" is_default_qos="true"-->
<!-- QoS used to configure the data writer created in the example code -->
<datawriter_qos>
<publication_name>
<name>cros2_demo_pub</name>
</publication_name>
<!-- -->
<publish_mode>
<kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
<flow_controller_name>DDS_DEFAULT_FLOW_CONTROLLER_NAME</flow_controller_name>
</publish_mode>
<!-- -->
<property>
<value>
<element>
<name>dds.data_writer.history.memory_manager.fast_pool.pool_buffer_max_size</name>
<value>4096</value>
</element>
</value>
</property>
</datawriter_qos>
<!-- QoS used to configure the data reader created in the example code -->
<datareader_qos>
<subscription_name>
<name>cros2_demo_sub</name>
</subscription_name>
</datareader_qos>
<participant_qos>
<participant_name>
<name>cros2_demo</name>
<role_name>cros2_demo_role</role_name>
</participant_name>
<!-- discovery peers provides the list of places to contact for discovery;
add the address of any remote machine in your ROS2 network here
(if multicast is not supported on your network) -->
<discovery>
<initial_peers>
<element>239.255.0.1</element>
<element>[email protected]://127.0.0.1</element>
<element>builtin.shmem://</element>
</initial_peers>
</discovery>
<!-- Allow/Deny interface can help when running on machines that have many interfaces (NIC, VPN, Docker, etc.); limit which ones are used for DDS
<property>
<value>
<element>
<name>dds.transport.UDPv4.builtin.parent.deny_interfaces_list</name>
<value>10.10.1.35</value>
</element>
<element>
<name>dds.transport.UDPv4.builtin.parent.allow_interfaces_list</name>
<value>192.168.1.*</value>
</element>
</value>
</property>
-->
<!-- suppress typeObject compression if interop with earlier DDS
<discovery_config>
<endpoint_type_object_lb_serialization_threshold>
-1
</endpoint_type_object_lb_serialization_threshold>
</discovery_config>
-->
</participant_qos>
</qos_profile>
</qos_library>
</dds>