I am experimenting with communication time by writing code to pub/sub video data. It is a study where two different PCs each become pub/sub and transmit and receive videos.
I am only transmitting and receiving one video and checking which qos parameter and which option are used to determine the communication time efficiency.
In rti, it is said that the following
Reliability / History / LatencyBudget / TransportPriority / Fragmentation