.. _enable-connext750-any-rmw:

Enabling Connext 7.5.0 or Later with any ROS RMW
================================================

It is easy to enable compatibility with standalone |CONNEXT| 7.5.0 or later
applications, even with non-Connext RMWs. This approach requires no
changes to existing applications, and is configurable through simple XML changes.

.. note::

    These instructions are for using standalone |CONNEXT| applications
    with ROS 2 applications, regardless of the RMW used. This approach is ideal if you have an
    existing ROS 2 system that you cannot change, but you want to utilize the many
    features of |CONNEXT| in additional applications. 

Ensure these prerequisites:

* **ROS 2 Kilted**

  It is recommended to use Ubuntu 24.04 (LTS) and
  `Debian packages <https://docs.ros.org/en/kilted/Installation.html>`__ for
  installation, since this platform is referenced throughout the examples.
  Substitute your platform for ``x64Linux4gcc7.3.0`` throughout the examples
  if you are using another architecture.

* **Existing ROS 2 application**

  The examples throughout this document are based on the 
  `Writing a simple publisher and subscriber (C++) <https://docs.ros.org/en/kilted/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html>`__
  and `Creating custom msg and serv files <https://docs.ros.org/en/kilted/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html>`__
  (using the ``cpp_pubsub`` package with the generated Num type) ROS 2 tutorials.
  If you have your own existing application, you should substitute your own
  types and topic names throughout the examples.

* **Connext 7.5.0 or later** 

  Only your standalone |CONNEXT| applications must use |CONNEXT| 7.5.0 or
  later. That is, your ROS 2 application does not need to use the |CONNEXT|
  RMW at all or, if it does, the |CONNEXT| RMW can be any version, but your
  standalone |CONNEXT| application interoperating with your ROS 2 application
  must be 7.5.0 or later.

  You can purchase |CONNEXT| 7.5.0 (email sales@rti.com for more information)
  or `download a free version <https://www.rti.com/free-trial>`__.


.. _pubsub-connext750-rmw:

Publisher/Subscriber Tutorial for Connext 7.5.0+ with any ROS RMW
-----------------------------------------------------------------

1. Create a new directory (outside of your ROS 2 workspace) called ``connext_ws``.

2. Navigate into the directory and copy the IDL file for your ROS 2 type into
   the newly created directory:

   .. code-block:: bash

      mkdir ~/connext_ws
      cd ~/connext_ws
      cp <ros2_ws>/install/tutorial_interfaces/share/tutorial_interfaces/msg/Num.idl .

3. Configure your |CONNEXT| environment (note: it is recommended to do this in a
   separate terminal from the one where you have configured your ROS 2 environment):

   .. code-block:: bash

      source <rti_connext_install_directory>/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash

4. Generate your |CONNEXT| example application:

   .. code-block:: bash

      rtiddsgen -example x64Linux4gcc7.3.0 -language c++11 Num.idl

5. Edit `Num_publisher.cxx` and `Num_subscriber.cxx` to set the topic name to ``topic``:

   .. code-block:: c++

      dds::topic::Topic< ::tutorial_interfaces::msg::Num> topic(participant, "topic");

6. Compile your |CONNEXT| application:

   .. code-block:: bash

      make -f makefile_x64Linux4gcc7.3.0

7. In one terminal, run the |CONNEXT| subscriber:

   .. code-block:: bash

      ./objs/x64Linux4gcc7.3.0/Num_subscriber

8. In another terminal, run the ROS 2 publisher:

   .. code-block:: bash

      ros2 run cpp_pubsub talker

9. Verify the |CONNEXT| subscriber does not receive data from the ROS 2 publisher:

   .. code-block:: text

      ::tutorial_interfaces::msg::Num subscriber sleeping up to 1 sec...
      ::tutorial_interfaces::msg::Num subscriber sleeping up to 1 sec...
      ::tutorial_interfaces::msg::Num subscriber sleeping up to 1 sec...
      ::tutorial_interfaces::msg::Num subscriber sleeping up to 1 sec...
      ::tutorial_interfaces::msg::Num subscriber sleeping up to 1 sec...

10. Terminate both applications with Ctrl-C.

11. In one terminal, run the |CONNEXT| publisher:

    .. code-block:: bash

        ./objs/x64Linux4gcc7.3.0/Num_publihser

12. In another terminal, run the ROS 2 subscriber:

    .. code-block:: bash

        ros2 run cpp_pubsub listener

13. Verify the ROS 2 subscriber does not receive data from the |CONNEXT|
    publisher (there will be no output).

14. Terminate both applications with Ctrl-C.

15. Open ``USER_QOS_PROFILES.xml`` and add the following to the
    `<domain_participant_qos>` tag:

    .. code-block:: xml

        <property>
                <value>
                        <element>
                                <name>dds.ros.enable_interoperability</name>
                                <value>TRUE</value>
                        </element>
                </value>
        </property>

16. Relaunch the |CONNEXT| subscriber application:

    .. code-block:: bash

        ./objs/x64Linux4gcc7.3.0/Num_subscriber

17. Relaunch the ROS 2 publisher application:

    .. code-block:: bash

        ros2 run cpp_pubsub talker

18. Verify that the |CONNEXT| subscriber application now starts receiving data
    from the ROS 2 publisher application:

    .. code-block:: text

        ::tutorial_interfaces::msg::Num subscriber sleeping up to 1 sec...
        [num: 0]
        ::tutorial_interfaces::msg::Num subscriber sleeping up to 1 sec...
        [num: 1]
        ::tutorial_interfaces::msg::Num subscriber sleeping up to 1 sec...
        [num: 2]
        ::tutorial_interfaces::msg::Num subscriber sleeping up to 1 sec...
        [num: 3]

19. Terminate the applications.

20. In one terminal, run the |CONNEXT| publisher:

    .. code-block:: bash

        ./objs/x64Linux4gcc7.3.0/Num_publisher

21. In another terminal, run the ROS 2 subscriber:

    .. code-block:: bash

        ros2 run cpp_pubsub listener

22. Verify the ROS 2 subscriber receives data:

    .. code-block:: text

        [INFO] [1738350344.675343878] [minimal_subscriber]: I heard: '1'
        [INFO] [1738350345.672977712] [minimal_subscriber]: I heard: '2'

23. Terminate both applications with Ctrl-C.


Service/Client Tutorial for Connext 7.5.0+ with any ROS RMW
-----------------------------------------------------------

1. Create a new directory (outside of your ROS 2 workspace) called ``connext_ws``.

2. Copy the request/reply example from the RTI workspace into your new directory:

   .. code-block:: bash

      mkdir ~/connext_ws
      cd ~/connext_ws
      cp -r <path to RTI workspace>/7.5.0/examples/connext_dds/c++11/hello_world_request_reply .

3. Copy the ROS 2 IDL into the source directory in the copied example:

   .. code-block:: bash

      cp <ros2_ws>//install/tutorial_interfaces/share/tutorial_interfaces/srv/AddThreeInts.idl hello_world_request_reply/src/

4. Configure your |CONNEXT| environment (note: it is recommended to do this in a
   separate terminal from the one where you have configured your ROS 2 environment):

   .. code-block:: bash

      source <rti_connext_install_directory>/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash

5. Navigate into ``hello_world_request_reply/src`` and generate new type files
   using ``AddThreeInts.idl``:

   .. code-block:: bash

      cd hello_world_request_reply/src
      rtiddsgen -create typefiles -platform x64Linux4gcc7.3.0 -language c++11 AddThreeInts.idl

6. Make a copy of ``PrimeNumberRequester.cxx`` named
   ``AddThreeIntsRequester.cxx`` and a copy of ``PrimeNumberReplier.cxx``
   named ``AddThreeIntsReplier.cxx``:

   .. code-block:: bash

      cp PrimeNumberRequester.cxx AddThreeIntsRequester.cxx
      cp PrimeNumberReplier.cxx AddThreeIntsReplier.cxx

7. Open ``AddThreeIntsRequester.cxx`` and make the following changes to use the
   AddThreeInts type instead of the Prime type:

   .. note::

      ``require_matching_service_on_send_request`` must be set to false in the
      ``RequesterParams``, and ``requester.wait_for_service`` cannot be used
      when seeking interoperability with other DDS vendors.

   .. code-block:: c++

      /****************************************************************************/
      /* (c) Copyright, Real-Time Innovations, All rights reserved.          */
      /* */
      /* Permission to modify and use for internal purposes granted.      */
      /* This software is provided "as is", without warranty, express or implied. */
      /* */
      /****************************************************************************/

      #include "AddThreeInts.hpp"  // generated support for the request and reply types
      #include <rti/request/rtirequest.hpp>  // full request-reply API
      #include <rti/util/util.hpp>        // for sleep()
      #include <rti/config/Logger.hpp>     // Logger to configure logging verbosity

      class AddThreeIntsRequesterExample {
      private:
              dds::domain::DomainParticipant participant;

      public:
              explicit AddThreeIntsRequesterExample(int domain_id) : participant(
                      domain_id,
                      dds::core::QosProvider::Default().participant_qos("RequestReplyExampleProfiles::ParticipantExampleProfile"))
              { }

              void run_example(int x, int y, int z)
              {
                      const auto max_wait = dds::core::Duration::from_secs(20);

                      // Create the Requester with the participant, a service name (which has
                      // be the same as the one used in the Replier) and optionally a QoS
                      // profile (defined in USER_QOS_PROFILES.xml).
                      rti::request::RequesterParams requester_params(participant);
                      auto qos_provider = dds::core::QosProvider::Default();
                      requester_params.service_name("add_three_ints");
                      requester_params.require_matching_service_on_send_request(false);

                      rti::request::Requester<tutorial_interfaces::srv::AddThreeInts_Request, tutorial_interfaces::srv::AddThreeInts_Response> requester(
                              requester_params);

                      // Wait for a service to be available
                      sleep(2);

                      // Send the request
                      auto request_id =
                              requester.send_request(tutorial_interfaces::srv::AddThreeInts_Request(x, y, z));

                      // Receive replies
                      bool in_progress = true;
                      while (in_progress) {
                              auto replies = requester.receive_replies(max_wait);

                              // When receive_replies times out,
                              // it returns an empty reply collection
                              if (replies.length() == 0) {
                                      throw std::runtime_error("Timed out waiting for replies");
                                      return;
                              }

                              // Print the prime numbers we receive
                              for (const auto& reply : replies) {
                                      if (!reply.info().valid()) {
                                              continue;
                                      }

                                      std:: cout << "Received sum " << reply.data().sum() << std::endl;
                                      }
                      }
              }
      };

      int requester_main(int x, int y, int z, int domain_id)
      {
              std::cout << "AddThreeIntsRequester: Sending a request to calculate the "
                              << "sum of " << x << ", " << y << ", " << z << std::endl;

              try {
                      AddThreeIntsRequesterExample(domain_id).run_example(x, y, z);
              } catch (const std::exception& ex) {
                      std::cout << "Exception: " << ex.what() << std::endl;
                      return -1;
              }

              return 0;
      }

      #if !(defined(RTI_VXWORKS) && !defined(__RTP__)) && !defined(RTI_PSOS)
      int main(int argc, char *argv[])
      {
              int domain_id = 0;
              int x, y, z;

              if (argc < 4) {
                      std::cout << "AddThreeIntsRequester" << std::endl
                                      << "Sends a request to calculate the sum"
                                      << std::endl
                                      << "Parameters: <x> <y> <z> [<domain_id>=0]"
                                      << std::endl;
                      return -1;
              }

              x = atoi(argv[1]);
              y = atoi(argv[2]);
              z = atoi(argv[3]);

              if (argc > 4) {
                      domain_id = atoi(argv[4]);
              }

              return requester_main(x, y, z, domain_id);
      }
      #endif

8. Open ``AddThreeIntsReplier.cxx`` and make the following changes to use the
   AddThreeInts type instead of the Prime type:

   .. code-block:: c++

      /****************************************************************************/
      /* (c) Copyright, Real-Time Innovations, All rights reserved.          */
      /* */
      /* Permission to modify and use for internal purposes granted.      */
      /* This software is provided "as is", without warranty, express or implied. */
      /* */
      /****************************************************************************/

      #include "AddThreeInts.hpp"  // generated support for the request and reply types
      #include <rti/request/rtirequest.hpp>  // full request-reply API
      #include <rti/config/Logger.hpp>     // Logger to configure logging verbosity
      #include <cmath>

      class AddThreeIntsReplierExample {
      private:
              dds::domain::DomainParticipant participant;

      public:
              explicit AddThreeIntsReplierExample(int domain_id) : participant(
                      domain_id,
                      dds::core::QosProvider::Default().participant_qos("RequestReplyExampleProfiles::ParticipantExampleProfile"))
              { }

      private:
              void calculate_and_send_sum(
                      rti::request::Replier<tutorial_interfaces::srv::AddThreeInts_Request, tutorial_interfaces::srv::AddThreeInts_Response> replier,
                      const rti::sub::LoanedSample<tutorial_interfaces::srv::AddThreeInts_Request>& request)
              {
                      int64_t a =
                              static_cast<int64_t>(request.data().a());
                      int64_t b =
                              static_cast<int64_t>(request.data().b());
                      int64_t c =
                              static_cast<int64_t>(request.data().c());

                      tutorial_interfaces::srv::AddThreeInts_Response reply;
                      reply.sum() = a + b + c;;

                 	  replier.send_reply(reply, request.info());
	                  }

      public:
          void run_example()
          {
              // Create the Replier with the participant, a service name and
              // optionally a QoS profile (defined in USER_QOS_PROFILES.xml).
              auto qos_provider = dds::core::QosProvider::Default();
              rti::request::ReplierParams replier_params(participant);
              replier_params.service_name("add_three_ints");
  
              rti::request::Replier<tutorial_interfaces::srv::AddThreeInts_Request, tutorial_interfaces::srv::AddThreeInts_Response> replier(
                      replier_params);
  
              // Receive requests and process them
              const auto MAX_WAIT = dds::core::Duration::from_secs(20);
              auto requests = replier.receive_requests(MAX_WAIT);
              while (requests.length() > 0) {  // end the requester when no requests
                                              // received in MAX_WAIT
                  for (const auto& request : requests) {
                      if (!request.info().valid()) {
                          continue;
                      }
  
                      std::cout << "Calculating sum of " <<
                              request.data().a() << ", " <<
                              request.data().b() << ", " <<
                              request.data().c() << std::endl;
  
  
                      calculate_and_send_sum(replier, request);
  
                      std::cout << "Sent reply" << std::endl;
                  }
  
                    requests = replier.receive_requests(MAX_WAIT);
              }
          }
      };

      int replier_main(int domain_id)
      {
              rti::config::Logger::instance().verbosity(
                      rti::config::Verbosity::WARNING);
      
  
          std::cout << "AddThreeIntsReplier running (on domain " << domain_id << ")"
                  << std::endl;
  
          try {
              AddThreeIntsReplierExample(domain_id).run_example();
          } catch (const std::exception& ex) {
              std::cout << "Exception: " << ex.what() << std::endl;
              return -1;
          }
  
          return 0;
      }
  
      #if !(defined(RTI_VXWORKS) && !defined(__RTP__)) && !defined(RTI_PSOS)
      int main(int argc, char *argv[])
      {
          int domain_id = 0;
  
          if (argc > 1) {
              domain_id = atoi(argv[1]);
          }
          return replier_main(domain_id);
      }
      #endif

9.  Modify ``USER_QOS_PROFILES.xml`` to include a *DomainParticipant* QoS
    profile and remove the existing snippets that set the Durability on the
    reader and writer (otherwise the endpoints may be incompatible with the
    ROS 2 endpoints):

    .. code-block:: xml

        <?xml version="1.0"?>

        <dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
                xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/7.5.0/rti_dds_qos_profiles.xsd">

                <qos_library name="RequestReplyExampleProfiles">

                        <qos_profile name="RequesterExampleProfile"
                                        base_name="BuiltinQosLib::Pattern.RPC">
                        </qos_profile>

                        <qos_profile name="ReplierExampleProfile"
                                        base_name="BuiltinQosLib::Pattern.RPC">
                        </qos_profile>

                        <qos_profile name="ParticipantExampleProfile"
                                        base_name="BuiltinQosLib::Pattern.RPC">
                        </qos_profile>
                </qos_library>
        </dds>

10. Modify ``make/makefile_RequestReplyPrimes_x64Linux4gcc7.3.0`` to compile
    AddThreeInts code:

    .. code-block:: text

        ######################################################################
        # makefile_Primes_x64Linux4gcc7.3.0#
        # (c) Copyright, Real-Time Innovations, 2012.  All rights reserved.
        # RTI grants Licensee a license to use, modify, compile, and create
        # derivative works of the software solely for use with RTI Connext DDS.
        # Licensee may redistribute copies of the software provided that all such
        # copies are subject to this license. The software is provided "as is",
        # with no warranty of any type, including any warranty for fitness for
        # any purpose. RTI is under no obligation to maintain or support the
        # software. RTI shall not be liable for any incidental or consequential
        # damages arising out of the use or inability to use the software.
        #
        #
        # This makefile was automatically generated by RTI Code Generator (rtiddsgen)
        # version 4.5.0.
        #
        #
        # Note: This makefile is only meant to build our example applications and
        #       may require alterations to build on your system.
        #
        # This makefile assumes that your build environment is already correctly
        # configured. (For example, the correct version of your compiler and
        # linker should be in your PATH.)
        ######################################################################


        SOURCE_DIR = src/

        TARGET_ARCH = x64Linux4gcc7.3.0

        #TOOLSROOT = # Set the location of the toolchain
        #COMPILERSYSROOT = $(TOOLSROOT)/build/tmp/sysroots/genericx86-64
        #COMPILER_PATH = $(TOOLSROOT)/build/tmp/sysroots/x86_64-linux/usr/bin/x86_64-wrs-linux


        ifndef COMPILER
                COMPILER = <span class="math-inline">\(COMPILER\_PATH\)</span>(GCC_PREFIX)g++
        endif
        COMPILER_FLAGS = -m64 -Wall $(ADDITIONAL_COMPILER_FLAGS) -std=c++14
        ifndef LINKER
                LINKER = <span class="math-inline">\(COMPILER\_PATH\)</span>(GCC_PREFIX)g++
        endif
        LINKER_FLAGS = -m64 <span class="math-inline">\(ADDITIONAL\_LINKER\_FLAGS\)
        SYSLIBS \= \-ldl \-lm \-lpthread \-lrt \-no\-pie \-rdynamic
        DEFINES \= \-DRTI\_UNIX \-DRTI\_LINUX \-DRTI\_64BIT
        ifndef DEBUG
        DEBUG\=0
        endif
        ifeq \(</span>(DEBUG),1)
                    COMPILER_FLAGS += -g -O0
                    LINKER_FLAGS += -g
                    DEBUG_SFX = d
            else
                    DEBUG_SFX =
            endif

            ifndef SHAREDLIB
                    SHAREDLIB=0
            endif


            ifeq (<span class="math-inline">\(SHAREDLIB\),1\)
        SHAREDLIB\_SFX \=
        STATIC\_LIBRARIES \=
        else
        SHAREDLIB\_SFX \= z
        DEFINES \+\= \-DRTI\_STATIC
        endif
        INCLUDES \= \-I\. \-I</span>(NDDSHOME)/include -I$(NDDSHOME)/include/ndds -I$(NDDSHOME)/include/ndds/hpp

            LIBS = -L$(NDDSHOME)/lib/<span class="math-inline">\(TARGET\_ARCH\)
        LIBS \+\= \-lrticonnextmsgcpp2</span>(SHAREDLIB_SFX)<span class="math-inline">\(DEBUG\_SFX\)
        LIBS \+\=  \-lnddscpp2</span>(SHAREDLIB_SFX)<span class="math-inline">\(DEBUG\_SFX\) \-lnddsc</span>(SHAREDLIB_SFX)<span class="math-inline">\(DEBUG\_SFX\) \-lnddscore</span>(SHAREDLIB_SFX)$(DEBUG_SFX)

            $(STATIC_LIBRARIES) $(SYSLIBS)

            CDRSOURCES      = AddThreeInts.idl
            SOURCES = $(SOURCE_DIR)AddThreeIntsPlugin.cxx $(SOURCE_DIR)AddThreeInts.cxx
            COMMONSOURCES = $(notdir <span class="math-inline">\(SOURCES\)\)
        EXEC            \= AddThreeIntsRequester AddThreeIntsReplier
        DIRECTORIES     \= objs\.dir objs/</span>(TARGET_ARCH).dir
            COMMONOBJS      = <span class="math-inline">\(COMMONSOURCES\:%\.cxx\=objs/</span>(TARGET_ARCH)/%.o)

            # We actually stick the objects in a sub directory to keep your directory clean.
            $(TARGET_ARCH) : $(DIRECTORIES) $(COMMONOBJS)
                    <span class="math-inline">\(EXEC\:%\=objs/</span>(TARGET_ARCH)/%.o)
                    <span class="math-inline">\(EXEC\:%\=objs/</span>(TARGET_ARCH)/%)

            objs/<span class="math-inline">\(TARGET\_ARCH\)/% \: objs/</span>(TARGET_ARCH)/%.o
                    $(LINKER) $(LINKER_FLAGS) -o $@ $@.o $(COMMONOBJS) <span class="math-inline">\(LIBS\)
        objs/</span>(TARGET_ARCH)/%.o : $(SOURCE_DIR)%.cxx  $(SOURCE_DIR)AddThreeInts.hpp
                    $(COMPILER) $(COMPILER_FLAGS) -o $@ $(DEFINES) $(INCLUDES) -c $<

            #
            # Uncomment these lines if you want the support files regenerated when idl
            # file is modified
            #
            #
            #  $(SOURCE_DIR)PrimesPlugin.cxx $(SOURCE_DIR)Primes.cxx \
            #  $(SOURCE_DIR)Primes.hpp $(SOURCE_DIR)PrimesPlugin.hpp $(SOURCE_DIR)application.hpp : \
            #       $(SOURCE_DIR)Primes.idl
            #   $(NDDSHOME)/bin/rtiddsgen $(SOURCE_DIR)Primes.idl -replace -language C++11
            #
            # Here is how we create those subdirectories automatically.
            %.dir :
                    @echo "Checking directory $*"
                    @if [ ! -d $* ]; then \
                            echo "Making directory $*"; \
                            mkdir -p $* ; \
                    fi;

11. Compile the AddThreeInts Requester and Replier:

    .. code-block:: bash

        make -f make/makefile_RequestReplyPrimes_x64Linux4gcc7.3.0

12. Launch the |CONNEXT| AddThreeInts Replier:

    .. code-block:: bash

        ./objs/x64Linux4gcc7.3.0/AddThreeIntsReplier

13. Launch the ROS 2 client:

    .. code-block:: bash

        ros2 run cpp_srvcli client 1 2 3

14. Verify the |CONNEXT| application does not receive the request and the
    ROS 2 client does not receive a reply.

    |CONNEXT| output:

    .. code-block:: text

        AddThreeIntsReplier running (on domain 0)

    ROS 2 output:

    .. code-block:: text

        [INFO] [time] [rclcpp]: service not available, waiting again...
        [INFO] [time] [rclcpp]: service not available, waiting again...
        [INFO] [time] [rclcpp]: service not available, waiting again...
        [INFO] [time] [rclcpp]: service not available, waiting again...

15. Terminate the applications. Launch the |CONNEXT| AddThreeInts Requester:

    .. code-block:: bash

        ./objs/x64Linux4gcc7.3.0/AddThreeIntsRequester 1 2 3

16. Launch the ROS 2 server:

    .. code-block:: bash

        ros2 run cpp_srvcli server

17. Verify the ROS 2 server does not receive a request and the |CONNEXT| application
    does not receive a reply.

    ROS 2 output:

    .. code-block:: text

        [INFO] [time] [rclcpp]: Ready to add three ints

    |CONNEXT| output:

    .. code-block:: text
    
        AddThreeIntsRequester: Sending a request to calculate the sum of 1, 2, 3

18. Enable ROS 2 interoperability by setting ``dds.ros.enable_interoperability``
    in ``USER_QOS_PROFILES.xml``:

    .. code-block:: xml

        <?xml version="1.0"?>

        <dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
            xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/7.5.0/rti_dds_qos_profiles.xsd">

            <qos_library name="RequestReplyExampleProfiles">

                <!-- Use these profiles to customize the Requester or Replier QoS -->

                <!-- These profiles inherit from the built-in profile
                    BuiltinQosLib::Pattern.RPC, which defines the default values for
                    the DataWriters and DataReaders created by a Requester or Replier
                -->
                <qos_profile name="RequesterExampleProfile"
                            base_name="BuiltinQosLib::Pattern.RPC">
                </qos_profile>

                <qos_profile name="ReplierExampleProfile"
                            base_name="BuiltinQosLib::Pattern.RPC">
                </qos_profile>

                <qos_profile name="ParticipantExampleProfile"
                            base_name="BuiltinQosLib::Pattern.RPC">
                    <domain_participant_qos>
                        <property>
                            <value>
                                <element>
                                    <name>dds.ros.enable_interoperability</name>
                                    <value>TRUE</value>
                                </element>
                            </value>
                        </property>
                    </domain_participant_qos>
                </qos_profile>
            </qos_library>
        </dds>

19. Launch the |CONNEXT| AddThreeInts Replier:

    .. code-block:: bash

        ./objs/x64Linux4gcc7.3.0/AddThreeIntsReplier

20. Launch the ROS 2 client:

    .. code-block:: bash

        ros2 run cpp_srvcli client 1 2 3

21. Verify the request is received and processed:

    |CONNEXT| output:

    .. code-block:: text

        AddThreeIntsReplier running (on domain 0)
        Calculating sum of 1, 2, 3
        Sent reply

    ROS 2 output:

    .. code-block:: bash

        [INFO] [time] [rclcpp]: Sum: 43

22. Terminate the applications. Launch the |CONNEXT| AddThreeInts Requester:

    .. code-block:: bash

        ./objs/x64Linux4gcc7.3.0/AddThreeIntsRequester

23. Launch the ROS 2 server:

    .. code-block:: bash

        ros2 run cpp_srvcli server

24. Verify the request is received and processed:

    ROS 2 output:

    .. code-block:: bash

        [INFO] [time] [rclcpp]: Ready to add three ints
        [INFO] [time] [rclcpp]: Incoming request
        a: 1 b: 2 c: 3
        [INFO] [time] [rclcpp]: sending back response: [6]

    |CONNEXT| output:

    .. code-block:: bash

        AddThreeIntsRequester: Sending a request to calculate the sum of 1, 2, 3
        Received sum 6