3. Understanding the Connext RMW

The Connext RMW introduces extra behavior via internal mechanisms or environment variables, which are discussed in the following sections.

• 3.1. QoS in ROS 2 and Connext
  • 3.1.1. DomainParticipantFactory
  • 3.1.2. DomainParticipant
  • 3.1.3. Endpoint
    • 3.1.3.1. DataWriter
    • 3.1.3.2. DataReader
• 3.2. Keyed Topics