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This second example on Keyed Data shows how the Ownership QoS interacts with the registration, unregistration, and disposal of instance of multiple DataWriters. It also illustrates how the on_data_available callback on the DataReader can delegate to ther handlers based on instance state changes, and explains filtering mechanisms to read only certain keys.
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This example illustrate how to use keyed data. In particular, in this example a single DataWriter creates three instances differentiated by the field "code", which is the field used as key.
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