Use these QoS fields to manage the liveliness of participants and endpoints, ensuring active communication and timely updates of the system state.

Basic Settings


dds::core::policy::Liveliness	kind
	<<basic>> <<spec>> The kind of liveliness desired.

dds::core::policy::Liveliness	lease_duration
	<<basic>> <<spec>> The duration within which a dds::pub::DataWriter must be asserted, or else it is assumed to be not alive.

dds::core::policy::Liveliness	assertions_per_lease_duration
	<<basic>> <<extension>> The number of assertions a dds::pub::DataWriter will send during a its dds::core::policy::Liveliness::lease_duration.

rti::core::policy::DiscoveryConfig	participant_liveliness_lease_duration
	<<basic>> <<extension>> The liveliness lease duration for the participant.

rti::core::policy::DiscoveryConfig	participant_liveliness_assert_period
	<<basic>> <<extension>> The period to assert liveliness for the participant.

Advanced Settings


rti::core::policy::DataReaderResourceLimits	autopurge_remote_not_alive_writer_delay
	<<extension>> Maximum duration for which the dds::sub::DataReader will maintain information regarding a dds::pub::DataWriter once the dds::pub::DataWriter has become not alive.

rti::core::policy::DiscoveryConfig	remote_participant_purge_kind
	[DEPRECATED] <<extension>> The participant's behavior for maintaining knowledge of remote participants (and their contained entities) with which discovery communication has been lost.

rti::core::policy::DiscoveryConfig	max_liveliness_loss_detection_period
	[DEPRECATED] <<extension>> The maximum amount of time between when a remote entity stops maintaining its liveliness and when the matched local entity realizes that fact.

rti::core::policy::DiscoveryConfig	participant_message_writer
	<<extension>> RTPS protocol-related configuration settings for the RTPS reliable writer associated with the built-in participant message writer. This parameter only has effect if the matching participant message reader is configured with dds::core::policy::ReliabilityKind_def::RELIABLE dds::core::policy::ReliabilityKind_def.

rti::core::policy::DiscoveryConfig	participant_message_reader_reliability_kind
	[DEPRECATED] <<extension>> Reliability policy for a built-in participant message reader.

rti::core::policy::DiscoveryConfig	participant_message_reader
	<<extension>> RTPS reliable reader protocol-related configuration settings for a built-in participant message reader. This parameter only has effect if rti::core::policy::DiscoveryConfig::participant_message_reader_reliability_kind is set to dds::core::policy::ReliabilityKind_def::RELIABLE.

rti::core::policy::RtpsReliableWriterProtocol	max_heartbeat_retries
	<<extension>> The maximum number of periodic heartbeat retries before marking a remote reader as inactive.

rti::core::policy::RtpsReliableWriterProtocol	inactivate_nonprogressing_readers
	<<extension>> Whether to treat remote readers as inactive when their NACKs do not progress