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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)
1 <?xml version="1.0"?>
2 
3 <dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
4  xsi:noNamespaceSchemaLocation="../../../resource/schema/rti_dds_qos_profiles.xsd">
5 
6  <qos_library name="RequestReplyExampleProfiles">
7 
8  <!-- Default QoS:
9 
10  This profile contains the QoS that Requesters and Repliers
11  would use by default. We can use it as a base profile to inherit
12  from and override some parameters
13  -->
14  <qos_profile name="default">
15  <datawriter_qos>
16 
17  <!-- Strict reliable -->
18  <reliability>
19  <kind>RELIABLE_RELIABILITY_QOS</kind>
20  <max_blocking_time>
21  <sec>10</sec>
22  <nanosec>0</nanosec>
23  </max_blocking_time>
24  </reliability>
25 
26  <history>
27  <kind>KEEP_ALL_HISTORY_QOS</kind>
28  </history>
29 
30  <!-- These are typical protocol parameters for a reliable
31  DataWriter -->
32  <protocol>
33  <rtps_reliable_writer>
34  <max_heartbeat_retries>
35  LENGTH_UNLIMITED
36  </max_heartbeat_retries>
37  <heartbeats_per_max_samples>
38  2
39  </heartbeats_per_max_samples>
40  <heartbeat_period>
41  <sec>0</sec>
42  <nanosec>100000000</nanosec> <!--100ms -->
43  </heartbeat_period>
44  <fast_heartbeat_period>
45  <sec>0</sec>
46  <nanosec>10000000</nanosec> <!--10ms -->
47  </fast_heartbeat_period>
48  <late_joiner_heartbeat_period>
49  <sec>0</sec>
50  <nanosec>10000000</nanosec> <!--10ms -->
51  </late_joiner_heartbeat_period>
52  <max_nack_response_delay>
53  <sec>0</sec>
54  <nanosec>0</nanosec>
55  </max_nack_response_delay>
56  <min_nack_response_delay>
57  <sec>0</sec>
58  <nanosec>0</nanosec>
59  </min_nack_response_delay>
60  <max_send_window_size>32</max_send_window_size>
61  <min_send_window_size>32</min_send_window_size>
62  </rtps_reliable_writer>
63  </protocol>
64 
65  <writer_resource_limits>
66  <!-- This setting enables efficient communication
67  between a replier and an arbitrary number of requesters
68  -->
69  <max_remote_reader_filters>
70  LENGTH_UNLIMITED
71  </max_remote_reader_filters>
72  </writer_resource_limits>
73  </datawriter_qos>
74 
75  <datareader_qos>
76  <!-- Strict reliable -->
77  <reliability>
78  <kind>RELIABLE_RELIABILITY_QOS</kind>
79  <max_blocking_time>
80  <sec>10</sec>
81  <nanosec>0</nanosec>
82  </max_blocking_time>
83  </reliability>
84 
85  <history>
86  <kind>KEEP_ALL_HISTORY_QOS</kind>
87  </history>
88 
89  <!-- These are typical protocol parameters for a reliable
90  DataReader -->
91  <protocol>
92  <rtps_reliable_reader>
93  <max_heartbeat_response_delay>
94  <sec>0</sec>
95  <nanosec>0</nanosec>
96  </max_heartbeat_response_delay>
97  <min_heartbeat_response_delay>
98  <sec>0</sec>
99  <nanosec>0</nanosec>
100  </min_heartbeat_response_delay>
101  </rtps_reliable_reader>
102  </protocol>
103 
104  </datareader_qos>
105 
106  </qos_profile>
107 
108  <!-- This is the profile used by the Requester.
109  It inherits from "default", defined above,
110  and overrides some QoS -->
111  <qos_profile name="RequesterExampleProfile"
112  base_name="default">
113 
114  <!-- QoS for the data writer that sends requests -->
115  <datawriter_qos>
116  <durability>
117  <kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
118  </durability>
119  </datawriter_qos>
120 
121  <!-- QoS for the data reader that receives replies -->
122  <datareader_qos>
123  <durability>
124  <kind>VOLATILE_DURABILITY_QOS</kind>
125  </durability>
126  </datareader_qos>
127  </qos_profile>
128 
129  <!-- This is the profile used by the Replier.
130  It inherits from "default", defined above,
131  and overrides some QoS -->
132  <qos_profile name="ReplierExampleProfile"
133  base_name="default">
134 
135  <!-- QoS for the data writer that sends replies -->
136  <datawriter_qos>
137  <durability>
138  <kind>VOLATILE_DURABILITY_QOS</kind>
139  </durability>
140  </datawriter_qos>
141 
142  <!-- QoS for the data reader that receives requests -->
143  <datareader_qos>
144  <durability>
145  <kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
146  </durability>
147  </datareader_qos>
148  </qos_profile>
149 
150  </qos_library>
151 </dds>