5.4.2. Usability

5.4.2.1. [Minor] Unnecessary QoS consistency checks for best effort DataWriters

The ResourceLimits::max_samples QoS must be greater than or equal to the RtpsProtocolReliableWriter::heartbeats_per_max_samples and RtpsProtocolReliableWriter::high_watermark QoS values. This consistency check used to be made regardless of whether or not the DataWriter was using RELIABLE Reliability::kind. The RtpsProtocolReliableWriter QoS settings do not apply to best effort DataWriters, so the max_samples QoS is no longer required to be consistent with any RtpsProtocolReliableWriter settings when the DataWriter is configured to use best effort communication.

[RTI Issue ID CORE-13685]