com.rti.dds.infrastructure.RETCODE_OUT_OF_RESOURCES on keep all history

A keep all history QoS tells the middleware you want to keep a copy of every single sample that has ever been recieved.  Every sample you store uses up some amount of memory.  When you never throw any away, you inevitably run out of memory.

Solutions:

1. Use a sane limit on the number of samples in the history.
2. Add a lifespan QoS policy.  Samples that are older than the duration of their lifespan will get taken out of the DataReader Cache.
3. Use take() to explicitly release the middleware from storing some specific samples that match a criteria that indicates they're no longer relevant to retain.
4. Spend some time thinking about why you're asking the middleware to retain a copy of every single message ever received by the system.  It's probably not a good idea.

It is not hard-coded. There are default values but everything is configurable. Several QoS settings control the resources used by the DataWriter. The most significant one is the RESOURCE_LIMITS QoS Policy on the DataWriter and the corresponding RESOURCE_LIMITS on the DataReader.

Also you could separate the data into different Topics or use different DataWriters even if they publush to the sama Topic. That way you only have to configure with HISTORY KEEP_ALL the things for which every message must be kept and delivered. Others you can configure with HISTORY KEEP_LAST.

Gerardo