Connext DDS entities are configured by means of Quality of Service (QoS) policies, which may be set programmatically in one of the following ways:
Directly when the entity is created as an additional argument to the create_<entity>() operation (or the Entity's constructor in the Modern C++ API).
Directly via the set_qos() operation on the entity.
Indirectly as a default QoS on the factory for the entity (set_default_<entity>_qos() operations on Publisher, Subscriber, DomainParticipant, DomainParticipantFactory)
Entities can also be configured from an XML file or XML string. With this feature, you can change QoS configurations simply by changing the XML file or string—you do not have to recompile the application. This chapter describes how to configure Connext DDS entities using XML:
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