USER_QOS_PROFILES.xml

The file that defines the QoS profiles that Foo_publisher.cxx and Foo_subscriber.cxx define.

See Also

Configuring QoS Profiles with XML

set_qos (abstract)

<?xml version="1.0"?>

<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:noNamespaceSchemaLocation="../../../resource/schema/rti_dds_qos_profiles.xsd">

    <qos_library name="RequestReplyExampleProfiles">

        <!-- Default QoS:

             This profile contains the QoS that Requesters and Repliers
             would use by default. We can use it as a base profile to inherit
             from and override some parameters
         -->
        <qos_profile name="default">
            <datawriter_qos>

                <!-- Strict reliable -->
                <reliability>
                    <kind>RELIABLE_RELIABILITY_QOS</kind>
                    <max_blocking_time>
                        <sec>10</sec>
                        <nanosec>0</nanosec>
                    </max_blocking_time>
                </reliability>

                <history>
                    <kind>KEEP_ALL_HISTORY_QOS</kind>
                </history>

                <!-- These are typical protocol parameters for a reliable
                     DataWriter -->
                <protocol>
                    <rtps_reliable_writer>
                        <max_heartbeat_retries>
                            LENGTH_UNLIMITED
                        </max_heartbeat_retries>
                        <heartbeats_per_max_samples>
                            2
                        </heartbeats_per_max_samples>
                        <heartbeat_period>
                            <sec>0</sec>
                            <nanosec>100000000</nanosec> <!--100ms -->
                        </heartbeat_period>
                        <fast_heartbeat_period>
                            <sec>0</sec>
                            <nanosec>10000000</nanosec> <!--10ms -->
                        </fast_heartbeat_period>
                        <late_joiner_heartbeat_period>
                            <sec>0</sec>
                            <nanosec>10000000</nanosec> <!--10ms -->
                        </late_joiner_heartbeat_period>
                        <max_nack_response_delay>
                            <sec>0</sec>
                            <nanosec>0</nanosec>
                        </max_nack_response_delay>
                        <min_nack_response_delay>
                            <sec>0</sec>
                            <nanosec>0</nanosec>
                        </min_nack_response_delay>
                        <max_send_window_size>32</max_send_window_size>
                        <min_send_window_size>32</min_send_window_size>
                    </rtps_reliable_writer>
                </protocol>

                <writer_resource_limits>
                    <!-- This setting enables efficient communication
                         between a replier and an arbitrary number of requesters
                     -->
                    <max_remote_reader_filters>
                        LENGTH_UNLIMITED
                    </max_remote_reader_filters>
                </writer_resource_limits>
            </datawriter_qos>

            <datareader_qos>
                <!-- Strict reliable -->
                <reliability>
                    <kind>RELIABLE_RELIABILITY_QOS</kind>
                    <max_blocking_time>
                        <sec>10</sec>
                        <nanosec>0</nanosec>
                    </max_blocking_time>
                </reliability>

                <history>
                    <kind>KEEP_ALL_HISTORY_QOS</kind>
                </history>

                <!-- These are typical protocol parameters for a reliable
                     DataReader -->
                <protocol>
                    <rtps_reliable_reader>
                        <max_heartbeat_response_delay>
                            <sec>0</sec>
                            <nanosec>0</nanosec>
                        </max_heartbeat_response_delay>
                        <min_heartbeat_response_delay>
                            <sec>0</sec>
                            <nanosec>0</nanosec>
                        </min_heartbeat_response_delay>
                    </rtps_reliable_reader>
                </protocol>

            </datareader_qos>

        </qos_profile>

        <!-- This is the profile used by the Requester.
             It inherits from "default", defined above,
             and overrides some QoS -->
        <qos_profile name="RequesterExampleProfile"
                     base_name="default">

            <!-- QoS for the data writer that sends requests -->
            <datawriter_qos>
                <durability>
                    <kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
                </durability>
            </datawriter_qos>

            <!-- QoS for the data reader that receives replies -->
            <datareader_qos>
                <durability>
                    <kind>VOLATILE_DURABILITY_QOS</kind>
                </durability>
            </datareader_qos>
        </qos_profile>

        <!-- This is the profile used by the Replier.
             It inherits from "default", defined above,
             and overrides some QoS -->
        <qos_profile name="ReplierExampleProfile"
                     base_name="default">

            <!-- QoS for the data writer that sends replies -->
            <datawriter_qos>
                <durability>
                    <kind>VOLATILE_DURABILITY_QOS</kind>
                </durability>
            </datawriter_qos>

            <!-- QoS for the data reader that receives requests -->
            <datareader_qos>
                <durability>
                    <kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
                </durability>
            </datareader_qos>
        </qos_profile>

    </qos_library>
</dds>