Dataset Viewer
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<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/6.1.2/rti_dds_qos_profiles.xsd">
<qos_library name="CsrosQosLib">
<qos_profile name="ParticipantQosInterfacesSnippet">
<participant_qos>
<property>
<value>
<element>
<name>dds.transport.UDPv4.builtin.parent.allow_interfaces_list</name>
<value>127.0.0.*,192.168.6.*</value>
</element>
</value>
</property>
</participant_qos>
</qos_profile>
<qos_profile name="ParticipantQosTimeCriticalInterfaceSnippet">
<participant_qos>
<property>
<value>
<element>
<name>dds.transport.UDPv4.builtin.parent.allow_interfaces_list</name>
<value>127.0.0.*,192.168.5.*</value>
</element>
</value>
</property>
</participant_qos>
</qos_profile>
<qos_profile name="ParticipantQosPropertySnippet">
<participant_qos>
<property>
<value>
<element>
<name>dds.participant.property_validation_action</name>
<value>1</value>
</element>
<element>
<name>dds.transport.UDPv4.builtin.parent.message_size_max</name>
<value>65536</value>
</element>
<element>
<name>dds.transport.UDPv4.builtin.send_socket_buffer_size</name>
<value>1048576</value>
</element>
<element>
<name>dds.transport.UDPv4.builtin.recv_socket_buffer_size</name>
<value>2097152</value>
</element>
<element>
<name>dds.transport.shmem.builtin.parent.message_size_max</name>
<value>65536</value>
</element>
<element>
<name>dds.transport.shmem.builtin.received_message_count_max</name>
<value>256</value>
</element>
<element>
<name>dds.transport.shmem.builtin.receive_buffer_size</name>
<value>6684672</value>
</element>
<element>
<name>dds.clock.external_clock</name>
<value>monotonic</value>
</element>
<element>
<name>dds.clock.internal_clock</name>
<value>monotonic</value>
</element>
</value>
</property>
</participant_qos>
</qos_profile>
<qos_profile name="ParticipantQosDiscoverysSnippet">
<participant_qos>
<discovery>
<initial_peers>
<element>[email protected]://239.255.0.1</element>
<element>[email protected]://127.0.0.1</element>
<element>[email protected]://</element>
</initial_peers>
</discovery>
</participant_qos>
</qos_profile>
<qos_profile name="ParticipantQosResourceLimitsSnippet">
<participant_qos>
<resource_limits>
<type_object_max_serialized_length>16384</type_object_max_serialized_length>
<local_writer_hash_buckets>200</local_writer_hash_buckets>
<local_reader_hash_buckets>200</local_reader_hash_buckets>
<local_publisher_hash_buckets>200</local_publisher_hash_buckets>
<local_subscriber_hash_buckets>200</local_subscriber_hash_buckets>
<local_topic_hash_buckets>200</local_topic_hash_buckets>
<remote_writer_hash_buckets>200</remote_writer_hash_buckets>
<remote_reader_hash_buckets>200</remote_reader_hash_buckets>
<remote_participant_hash_buckets>20</remote_participant_hash_buckets>
<matching_writer_reader_pair_hash_buckets>200</matching_writer_reader_pair_hash_buckets>
<matching_reader_writer_pair_hash_buckets>200</matching_reader_writer_pair_hash_buckets>
</resource_limits>
</participant_qos>
</qos_profile>
<qos_profile name="AutoDisposeUnregisteredInstancesFalse">
<datawriter_qos>
<writer_data_lifecycle>
<autodispose_unregistered_instances>false</autodispose_unregistered_instances>
</writer_data_lifecycle>
</datawriter_qos>
</qos_profile>
<qos_profile name="XCDR2ReaderWriter">
<datareader_qos>
<representation>
<value>
<element>XCDR2_DATA_REPRESENTATION</element>
</value>
</representation>
</datareader_qos>
<datawriter_qos>
<representation>
<value>
<element>XCDR2_DATA_REPRESENTATION</element>
</value>
</representation>
</datawriter_qos>
</qos_profile>
<!-- ================================================================= -->
<!-- Base QoS Profile -->
<!-- ================================================================= -->
<qos_profile name="ProfileDefault" is_default_qos="true" base_name="XCDR2ReaderWriter">
<base_name>
<element>ParticipantQosInterfacesSnippet</element>
<element>ParticipantQosPropertySnippet</element>
<element>ParticipantQosDiscoverysSnippet</element>
<element>ParticipantQosResourceLimitsSnippet</element>
</base_name>
<participant_qos>
<participant_name>
<name>CSROS Default Profile</name>
</participant_name>
</participant_qos>
<datareader_qos name="bestEffortReader">
<reliability>
<kind>BEST_EFFORT_RELIABILITY_QOS</kind>
</reliability>
<resource_limits>
<max_samples>64</max_samples>
<initial_samples>64</initial_samples>
<instance_hash_buckets>1</instance_hash_buckets>
</resource_limits>
</datareader_qos>
<datawriter_qos name="bestEffortWriter">
<reliability>
<kind>BEST_EFFORT_RELIABILITY_QOS</kind>
</reliability>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>1</depth>
</history>
<resource_limits>
<max_samples>64</max_samples>
<initial_samples>64</initial_samples>
<instance_hash_buckets>1</instance_hash_buckets>
</resource_limits>
</datawriter_qos>
<datareader_qos name="reliableReader">
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
<max_blocking_time>
<sec>3</sec>
<nanosec>0</nanosec>
</max_blocking_time>
</reliability>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>16</depth>
</history>
<reader_resource_limits>
<initial_outstanding_reads>16</initial_outstanding_reads>
<max_outstanding_reads>16</max_outstanding_reads>
<max_samples_per_remote_writer>16</max_samples_per_remote_writer>
</reader_resource_limits>
<protocol>
<rtps_reliable_reader>
<min_heartbeat_response_delay>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</min_heartbeat_response_delay>
<max_heartbeat_response_delay>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</max_heartbeat_response_delay>
<heartbeat_suppression_duration>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</heartbeat_suppression_duration>
<app_ack_period>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>4000000</nanosec>
</app_ack_period>
</rtps_reliable_reader>
</protocol>
</datareader_qos>
<datareader_qos name="reliableSlowReader">
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
<max_blocking_time>
<sec>3</sec>
<nanosec>0</nanosec>
</max_blocking_time>
</reliability>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>256</depth>
</history>
<reader_resource_limits>
<initial_outstanding_reads>256</initial_outstanding_reads>
<max_outstanding_reads>256</max_outstanding_reads>
<max_samples_per_remote_writer>256</max_samples_per_remote_writer>
</reader_resource_limits>
<protocol>
<rtps_reliable_reader>
<min_heartbeat_response_delay>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</min_heartbeat_response_delay>
<max_heartbeat_response_delay>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</max_heartbeat_response_delay>
<heartbeat_suppression_duration>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</heartbeat_suppression_duration>
</rtps_reliable_reader>
</protocol>
</datareader_qos>
<datawriter_qos name="reliableSlowWriter">
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
</reliability>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>128</depth>
</history>
<resource_limits>
<max_samples>128</max_samples>
<initial_samples>128</initial_samples>
<instance_hash_buckets>1</instance_hash_buckets>
</resource_limits>
<protocol>
<rtps_reliable_writer>
<low_watermark>0</low_watermark>
<high_watermark>1</high_watermark>
<fast_heartbeat_period>
<sec>0</sec>
<nanosec>6000000</nanosec>
</fast_heartbeat_period>
<heartbeats_per_max_samples>128</heartbeats_per_max_samples>
<max_send_window_size>128</max_send_window_size>
<min_send_window_size>128</min_send_window_size>
<max_heartbeat_retries>3</max_heartbeat_retries>
</rtps_reliable_writer>
</protocol>
</datawriter_qos>
<datawriter_qos name="reliableWriter">
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
</reliability>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>16</depth>
</history>
<resource_limits>
<max_samples>16</max_samples>
<initial_samples>16</initial_samples>
<instance_hash_buckets>1</instance_hash_buckets>
</resource_limits>
<protocol>
<rtps_reliable_writer>
<low_watermark>0</low_watermark>
<high_watermark>1</high_watermark>
<fast_heartbeat_period>
<sec>0</sec>
<nanosec>6000000</nanosec>
</fast_heartbeat_period>
<heartbeats_per_max_samples>16</heartbeats_per_max_samples>
<max_send_window_size>16</max_send_window_size>
<min_send_window_size>16</min_send_window_size>
<max_heartbeat_retries>3</max_heartbeat_retries>
</rtps_reliable_writer>
</protocol>
</datawriter_qos>
<datareader_qos name="reliableReaderAppAck">
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
<max_blocking_time>
<sec>3</sec>
<nanosec>0</nanosec>
</max_blocking_time>
<acknowledgment_kind>APPLICATION_AUTO_ACKNOWLEDGMENT_MODE</acknowledgment_kind>
</reliability>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>16</depth>
</history>
<reader_resource_limits>
<initial_outstanding_reads>16</initial_outstanding_reads>
<max_outstanding_reads>16</max_outstanding_reads>
<max_samples_per_remote_writer>16</max_samples_per_remote_writer>
</reader_resource_limits>
<protocol>
<rtps_reliable_reader>
<min_heartbeat_response_delay>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</min_heartbeat_response_delay>
<max_heartbeat_response_delay>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</max_heartbeat_response_delay>
<heartbeat_suppression_duration>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</heartbeat_suppression_duration>
<app_ack_period>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>4000000</nanosec>
</app_ack_period>
</rtps_reliable_reader>
</protocol>
</datareader_qos>
<datawriter_qos name="reliableWriterAppAck">
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
<acknowledgment_kind>APPLICATION_AUTO_ACKNOWLEDGMENT_MODE</acknowledgment_kind>
</reliability>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>16</depth>
</history>
<resource_limits>
<max_samples>16</max_samples>
<initial_samples>16</initial_samples>
<instance_hash_buckets>1</instance_hash_buckets>
</resource_limits>
<protocol>
<rtps_reliable_writer>
<low_watermark>0</low_watermark>
<high_watermark>1</high_watermark>
<fast_heartbeat_period>
<sec>0</sec>
<nanosec>6000000</nanosec>
</fast_heartbeat_period>
<heartbeats_per_max_samples>16</heartbeats_per_max_samples>
<max_send_window_size>16</max_send_window_size>
<min_send_window_size>16</min_send_window_size>
<max_heartbeat_retries>3</max_heartbeat_retries>
</rtps_reliable_writer>
</protocol>
</datawriter_qos>
<datareader_qos name="lateJoinerReliableReader" base_name="reliableReader">
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>32</depth>
</history>
<durability>
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
</durability>
</datareader_qos>
<datawriter_qos name="lateJoinerReliableWriter" base_name="reliableWriter">
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>32</depth>
</history>
<durability>
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
</durability>
<resource_limits>
<max_samples>32</max_samples>
<initial_samples>32</initial_samples>
<instance_hash_buckets>1</instance_hash_buckets>
</resource_limits>
<protocol>
<rtps_reliable_writer>
<heartbeats_per_max_samples>32</heartbeats_per_max_samples>
<max_send_window_size>32</max_send_window_size>
<min_send_window_size>32</min_send_window_size>
</rtps_reliable_writer>
</protocol>
</datawriter_qos>
<datareader_qos name="bestEffortSlowReader" topic_filter="*">
<reliability>
<kind>BEST_EFFORT_RELIABILITY_QOS</kind>
</reliability>
<resource_limits>
<max_samples>256</max_samples>
<initial_samples>256</initial_samples>
<instance_hash_buckets>1</instance_hash_buckets>
</resource_limits>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>256</depth>
</history>
</datareader_qos>
<datawriter_qos name="bestEffortSlowWriter" topic_filter="*">
<reliability>
<kind>BEST_EFFORT_RELIABILITY_QOS</kind>
</reliability>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>256</depth>
</history>
<resource_limits>
<max_samples>256</max_samples>
<initial_samples>256</initial_samples>
<instance_hash_buckets>1</instance_hash_buckets>
</resource_limits>
</datawriter_qos>
<datawriter_qos name="asynBatchWriter" base_name="reliableWriter">
<publish_mode>
<kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
<flow_controller_name>DDS_DEFAULT_FLOW_CONTROLLER_NAME</flow_controller_name>
</publish_mode>
<batch>
<enable>true</enable>
<max_flush_delay>
<sec>2</sec>
<nanosec>0</nanosec>
</max_flush_delay>
</batch>
</datawriter_qos>
</qos_profile>
<qos_profile name="SnippetReliableDatawriter">
<!-- <datawriter_qos>-->
<!-- <reliability>-->
<!-- <kind>RELIABLE_RELIABILITY_QOS</kind>-->
<!-- <acknowledgment_kind>APPLICATION_AUTO_ACKNOWLEDGMENT_MODE</acknowledgment_kind>-->
<!-- </reliability>-->
<!-- <resource_limits>-->
<!-- <max_samples>1</max_samples>-->
<!-- <initial_samples>1</initial_samples>-->
<!-- </resource_limits>-->
<!-- <protocol>-->
<!-- <rtps_reliable_writer>-->
<!-- <fast_heartbeat_period>-->
<!-- <sec>0</sec>-->
<!-- <nanosec>2000000</nanosec>-->
<!-- </fast_heartbeat_period>-->
<!-- <heartbeats_per_max_samples>1</heartbeats_per_max_samples>-->
<!-- </rtps_reliable_writer>-->
<!-- </protocol>-->
<!-- </datawriter_qos>-->
<datawriter_qos>
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
<acknowledgment_kind>APPLICATION_AUTO_ACKNOWLEDGMENT_MODE</acknowledgment_kind>
</reliability>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>1</depth>
</history>
<resource_limits>
<max_samples>8</max_samples>
<initial_samples>8</initial_samples>
<instance_hash_buckets>1</instance_hash_buckets>
</resource_limits>
<protocol>
<rtps_reliable_writer>
<fast_heartbeat_period>
<sec>0</sec>
<nanosec>250000000</nanosec>
</fast_heartbeat_period>
</rtps_reliable_writer>
</protocol>
</datawriter_qos>
</qos_profile>
<qos_profile name="SnippetReliableDatareader">
<!-- <datareader_qos name="ReliableDataReader">-->
<!-- <reliability>-->
<!-- <kind>RELIABLE_RELIABILITY_QOS</kind>-->
<!-- <acknowledgment_kind>APPLICATION_AUTO_ACKNOWLEDGMENT_MODE</acknowledgment_kind>-->
<!-- <max_blocking_time>-->
<!-- <sec>3</sec>-->
<!-- <nanosec>0</nanosec>-->
<!-- </max_blocking_time>-->
<!-- </reliability>-->
<!-- <history>-->
<!-- <kind>KEEP_LAST_HISTORY_QOS</kind>-->
<!-- <depth>100</depth>-->
<!-- </history>-->
<!-- </datareader_qos>-->
<datareader_qos>
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
<max_blocking_time>
<sec>3</sec>
<nanosec>0</nanosec>
</max_blocking_time>
<acknowledgment_kind>APPLICATION_AUTO_ACKNOWLEDGMENT_MODE</acknowledgment_kind>
</reliability>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>5</depth>
</history>
</datareader_qos>
</qos_profile>
<qos_profile name="LatencyQos">
<datawriter_qos>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>1</depth>
</history>
<!--
Setting reliability.kind = RELIABLE_RELIABILITY_QOS, data samples
originating from a single DataWriter cannot be made available to the
DataReader if there are previous data samples that have not been
received yet due to a communication error.
The default value is RELIABLE_RELIABILITY_QOS.
It can be modified to BEST_EFFORT_RELIABILITY_QOS
using the command-line option -bestEffort.
-->
<reliability>
<kind>BEST_EFFORT_RELIABILITY_QOS</kind>
<max_blocking_time>
<sec>DURATION_INFINITE_SEC</sec>
<nanosec>DURATION_INFINITE_NSEC</nanosec>
</max_blocking_time>
</reliability>
<!--
The Durability QoS policy specifies whether or not Connext will store and
deliver previously published data samples to new DataReaders that join the
network later.
Important: durability.kind and durability.direct_communication are configured
automatically within the source code. To modify them, use the input commands
-durability and -noDirectCommunication.
The default value of _DirectCommunication is true.
The default value of _Durability is DDS_VOLATILE_DURABILITY_QOS
if _DirectCommunication is false
if _Durability is DDS_TRANSIENT_DURABILITY_QOS or DDS_PERSISTENT_DURABILITY_QOS
<durability>
<kind>_Durability</kind>
<direct_communication>_DirectCommunication</direct_communication>
</durability>
-->
<!--
The number of samples for which Connext will set aside space.
See the comments above for more information.
-->
<resource_limits>
<max_samples>LENGTH_UNLIMITED</max_samples>
<initial_samples>100</initial_samples>
<max_samples_per_instance>LENGTH_UNLIMITED</max_samples_per_instance>
</resource_limits>
<writer_resource_limits>
<max_remote_reader_filters>0</max_remote_reader_filters>
</writer_resource_limits>
<!--
The behavioral contract under which the DataWriter will carry out the
reliability protocol. See the comments above for more information.
-->
<protocol>
<rtps_reliable_writer>
<low_watermark>10</low_watermark>
<high_watermark>100</high_watermark>
<heartbeats_per_max_samples>1000</heartbeats_per_max_samples>
<!-- <heartbeat_period>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>10000000</nanosec>
</heartbeat_period>
<fast_heartbeat_period>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>1000000</nanosec>
</fast_heartbeat_period>-->
<late_joiner_heartbeat_period>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>10000000</nanosec>
</late_joiner_heartbeat_period>
<max_heartbeat_retries>LENGTH_UNLIMITED</max_heartbeat_retries>
<min_nack_response_delay>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</min_nack_response_delay>
<max_nack_response_delay>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</max_nack_response_delay>
<min_send_window_size>LENGTH_UNLIMITED</min_send_window_size>
<max_send_window_size>LENGTH_UNLIMITED</max_send_window_size>
</rtps_reliable_writer>
</protocol>
<writer_data_lifecycle>
<autodispose_unregistered_instances>false</autodispose_unregistered_instances>
</writer_data_lifecycle>
</datawriter_qos>
<datareader_qos>
<!--
The default value of reliability.kind is RELIABLE_RELIABILITY_QOS.
The reliability.kind can be modified to BEST_EFFORT_RELIABILITY_QOS
by using the command-line option -bestEffort.
-->
<reliability>
<kind>BEST_EFFORT_RELIABILITY_QOS</kind>
</reliability>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>1</depth>
</history>
<!--
DurabilityQos policy specifies whether or not Connext will store and
deliver previously published data samples to new DDSDataReader entities
that join the network later.
Important: durability.kind and durability.direct_communication are configured
automatically within the source code. To modify them, use the input commands
-durability and -noDirectCommunication.
The default value of _DirectCommunication is true.
The default value of _Durability is DDS_VOLATILE_DURABILITY_QOS
if _DirectCommunication is false
if _Durability is DDS_TRANSIENT_DURABILITY_QOS or DDS_PERSISTENT_DURABILITY_QOS
<durability>
<kind>_Durability</kind>
<direct_communication>_DirectCommunication</direct_communication>
</durability>
-->
<!--
The number of samples for which the middleware will set aside space.
See the comments above for more information.
-->
<resource_limits>
<max_samples>100</max_samples>
<initial_samples>100</initial_samples>
<max_samples_per_instance>100</max_samples_per_instance>
</resource_limits>
<reader_resource_limits>
<initial_outstanding_reads>4</initial_outstanding_reads>
<max_outstanding_reads>4</max_outstanding_reads>
<max_samples_per_remote_writer>100</max_samples_per_remote_writer>
</reader_resource_limits>
<!--
The behavioral contract under which the DataReader will carry out the
reliability protocol. See the comments above for more information.
-->
<protocol>
<rtps_reliable_reader>
<min_heartbeat_response_delay>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</min_heartbeat_response_delay>
<max_heartbeat_response_delay>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</max_heartbeat_response_delay>
<heartbeat_suppression_duration>
<sec>DURATION_ZERO_SEC</sec>
<nanosec>DURATION_ZERO_NSEC</nanosec>
</heartbeat_suppression_duration>
</rtps_reliable_reader>
</protocol>
</datareader_qos>
</qos_profile>
<qos_profile name="ProfileNonTimeCritical" base_name="ProfileDefault">
<participant_qos>
<participant_name>
<name>Non time critical</name>
</participant_name>
</participant_qos>
<datawriter_qos topic_filter="*csr/logMessage" base_name="ProfileDefault::asynBatchWriter">
<batch>
<max_samples>100</max_samples>
<max_data_bytes>2800</max_data_bytes>
</batch>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>300</depth>
</history>
<resource_limits>
<max_samples>300</max_samples>
<initial_samples>300</initial_samples>
</resource_limits>
<protocol>
<rtps_reliable_writer>
<heartbeats_per_max_samples>300</heartbeats_per_max_samples>
<max_send_window_size>300</max_send_window_size>
<min_send_window_size>300</min_send_window_size>
</rtps_reliable_writer>
</protocol>
</datawriter_qos>
<datawriter_qos topic_filter="*Profiling" base_name="ProfileDefault::asynBatchWriter">
<batch>
<max_samples>800</max_samples>
<max_data_bytes>2800</max_data_bytes>
<max_flush_delay>
<sec>1</sec>
<nanosec>0</nanosec>
</max_flush_delay>
</batch>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>1600</depth>
</history>
<resource_limits>
<max_samples>1600</max_samples>
<initial_samples>1600</initial_samples>
</resource_limits>
<protocol>
<rtps_reliable_writer>
<heartbeats_per_max_samples>1600</heartbeats_per_max_samples>
<max_send_window_size>1600</max_send_window_size>
<min_send_window_size>1600</min_send_window_size>
</rtps_reliable_writer>
</protocol>
</datawriter_qos>
<datawriter_qos topic_filter="*veryFastAppHeartbeat" base_name="ProfileDefault::bestEffortWriter">
<base_name>
<element>AutoDisposeUnregisteredInstancesFalse</element>
</base_name>
<liveliness>
<kind>DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
<lease_duration>
<sec>0</sec>
<nanosec>10000000</nanosec>
</lease_duration>
</liveliness>
<transport_selection>
<enabled_transports>
<element>shmem</element>
</enabled_transports>
</transport_selection>
</datawriter_qos>
<datareader_qos topic_filter="*veryFastAppHeartbeat" base_name="ProfileDefault::bestEffortReader">
<liveliness>
<kind>DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
<lease_duration>
<sec>0</sec>
<nanosec>10000000</nanosec>
</lease_duration>
</liveliness>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>128</depth>
</history>
<resource_limits>
<max_samples>128</max_samples>
<initial_samples>128</initial_samples>
<instance_hash_buckets>1</instance_hash_buckets>
<initial_instances>24</initial_instances>
</resource_limits>
<transport_selection>
<enabled_transports>
<element>shmem</element>
</enabled_transports>
</transport_selection>
</datareader_qos>
<datawriter_qos topic_filter="*fastAppHeartbeat" base_name="ProfileDefault::bestEffortWriter">
<base_name>
<element>AutoDisposeUnregisteredInstancesFalse</element>
</base_name>
<liveliness>
<kind>DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
<lease_duration>
<sec>0</sec>
<nanosec>40000000</nanosec>
</lease_duration>
</liveliness>
<transport_selection>
<enabled_transports>
<element>shmem</element>
</enabled_transports>
</transport_selection>
</datawriter_qos>
<datareader_qos topic_filter="*fastAppHeartbeat" base_name="ProfileDefault::bestEffortReader">
<liveliness>
<kind>DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
<lease_duration>
<sec>0</sec>
<nanosec>40000000</nanosec>
</lease_duration>
</liveliness>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>128</depth>
</history>
<resource_limits>
<max_samples>128</max_samples>
<initial_samples>128</initial_samples>
<instance_hash_buckets>1</instance_hash_buckets>
<initial_instances>24</initial_instances>
</resource_limits>
<transport_selection>
<enabled_transports>
<element>shmem</element>
</enabled_transports>
</transport_selection>
</datareader_qos>
<datawriter_qos topic_filter="*appHeartbeat" base_name="ProfileDefault::bestEffortWriter">
<base_name>
<element>AutoDisposeUnregisteredInstancesFalse</element>
</base_name>
<liveliness>
<kind>DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
<lease_duration>
<sec>4</sec>
<nanosec>0</nanosec>
</lease_duration>
</liveliness>
</datawriter_qos>
<datareader_qos topic_filter="*appHeartbeat" base_name="ProfileDefault::bestEffortReader">
<liveliness>
<kind>DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
<lease_duration>
<sec>4</sec>
<nanosec>0</nanosec>
</lease_duration>
</liveliness>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>128</depth>
</history>
<resource_limits>
<max_samples>128</max_samples>
<initial_samples>128</initial_samples>
<instance_hash_buckets>1</instance_hash_buckets>
<initial_instances>24</initial_instances>
</resource_limits>
</datareader_qos>
<datareader_qos topic_filter="*faultDetection" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*faultDetection" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*manipulateReq" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*manipulateReq" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*mctReq" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*mctReq" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*mctAck" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*mctAck" base_name="ProfileDefault::reliableWriter"/>
<datawriter_qos topic_filter="*/2kHz" base_name="ProfileDefault::bestEffortWriter">
<transport_selection>
<enabled_transports>
<element>shmem</element>
</enabled_transports>
</transport_selection>
<writer_resource_limits>
<max_remote_reader_filters>0</max_remote_reader_filters>
</writer_resource_limits>
</datawriter_qos>
<datareader_qos topic_filter="*/2kHz" base_name="ProfileDefault::bestEffortReader">
<transport_selection>
<enabled_transports>
<element>shmem</element>
</enabled_transports>
</transport_selection>
</datareader_qos>
<datareader_qos topic_filter="*measuredPoseTwistJaw_bTVMt" base_name="ProfileDefault::bestEffortReader">
</datareader_qos>
<datareader_qos topic_filter="*measuredPoseTwistJaw_vTVMg" base_name="ProfileDefault::bestEffortReader">
</datareader_qos>
<datareader_qos topic_filter="*measuredPoseTwistJaw_cTVMs" base_name="ProfileDefault::bestEffortReader">
</datareader_qos>
<datareader_qos topic_filter="*osim*" base_name="ProfileDefault::bestEffortReader">
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>10</depth>
</history>
</datareader_qos>
<datareader_qos topic_filter="*ecmReq" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*ecmReq" base_name="ProfileDefault::reliableWriter">
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>3</depth>
</history>
</datawriter_qos>
<datareader_qos topic_filter="*ecmAck" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*ecmAck" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*Service*" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*Service*" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*setLedMode" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*setLedMode" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*upsReq" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*upsReq" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*upsAck" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*upsAck" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*systemState" base_name="ProfileDefault::lateJoinerReliableReader"/>
<datawriter_qos topic_filter="*systemState" base_name="ProfileDefault::lateJoinerReliableWriter"/>
<datareader_qos topic_filter="*stateLog" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*stateLog" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*endoscopeState" base_name="ProfileDefault::lateJoinerReliableReader"/>
<datawriter_qos topic_filter="*endoscopeState" base_name="ProfileDefault::lateJoinerReliableWriter"/>
<datareader_qos topic_filter="*surgeryState" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*surgeryState" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*energyCtrl" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*energyCtrl" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*EguReq" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*EguReq" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*ultrasonicGeneratorAck" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*ultrasonicGeneratorAck" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*ultrasonicGeneratorReq" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*ultrasonicGeneratorReq" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*behaviorAck" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*behaviorAck" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*behaviorReq" base_name="ProfileDefault::reliableReaderAppAck"/>
<datawriter_qos topic_filter="*behaviorReq" base_name="ProfileDefault::reliableWriterAppAck"/>
<datareader_qos topic_filter="*systemSound" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*systemSound" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*changeInstrument" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*changeInstrument" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*manipulateAck" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*manipulateAck" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*robotIoState" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*robotIoState" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*arm/rtrk/request" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*arm/rtrk/request" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*arm/kin/param" base_name="ProfileDefault::lateJoinerReliableReader"/>
<datawriter_qos topic_filter="*arm/kin/param" base_name="ProfileDefault::lateJoinerReliableWriter"/>
<datareader_qos topic_filter="*arm/behavior/teleopCommand/ack" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*arm/behavior/teleopCommand/ack" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*hardwareInfo" base_name="ProfileDefault::lateJoinerReliableReader"/>
<datawriter_qos topic_filter="*hardwareInfo" base_name="ProfileDefault::lateJoinerReliableWriter"/>
<datareader_qos topic_filter="*jointLimit" base_name="ProfileDefault::lateJoinerReliableReader"/>
<datawriter_qos topic_filter="*jointLimit" base_name="ProfileDefault::lateJoinerReliableWriter"/>
<datareader_qos topic_filter="*sgiId" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*sgiId" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*powerReq" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*powerReq" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*logMessage" base_name="ProfileDefault::reliableSlowReader"/>
<datawriter_qos topic_filter="*logMessage" base_name="ProfileDefault::reliableSlowWriter"/>
<datareader_qos topic_filter="ParameterServer*" base_name="ProfileDefault::bestEffortSlowReader"/>
<datawriter_qos topic_filter="ParameterServer*" base_name="ProfileDefault::bestEffortSlowWriter"/>
<datareader_qos topic_filter="*vctReq" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*vctReq" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*audioReq" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*audioReq" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*vctAudioReq" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*vctAudioReq" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*talkConsoleReq" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*talkConsoleReq" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*atpCommReq" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*atpCommReq" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*linkStat" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*linkStat" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*setToolParam" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*setToolParam" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*toolHeader" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*toolHeader" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*rfidMemoryRead" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*rfidMemoryRead" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*setRecoverState" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*setRecoverState" base_name="ProfileDefault::reliableWriter"/>
<datareader_qos topic_filter="*/FRL/test" base_name="ProfileDefault::reliableReader"/>
<datawriter_qos topic_filter="*/FRL/test" base_name="ProfileDefault::reliableWriter"/>
</qos_profile>
<qos_profile name="ProfileTimeCritical" base_name="LatencyQos">
<base_name>
<element>ParticipantQosTimeCriticalInterfaceSnippet</element>
<element>ParticipantQosPropertySnippet</element>
<!-- <element>ParticipantQosDiscoverysSnippet</element>-->
<element>ParticipantQosResourceLimitsSnippet</element>
</base_name>
<participant_qos>
<participant_name>
<name>Time critical</name>
</participant_name>
<receiver_pool>
<thread>
<cpu_list>
<element>12</element>
<element>13</element>
<element>27</element>
<element>28</element>
<element>29</element>
</cpu_list>
<mask>DDS_THREAD_SETTINGS_REALTIME_PRIORITY</mask>
<priority>99</priority>
</thread>
</receiver_pool>
<event>
<thread>
<cpu_list>
<element>11</element>
</cpu_list>
<mask>DDS_THREAD_SETTINGS_REALTIME_PRIORITY</mask>
<priority>99</priority>
</thread>
</event>
</participant_qos>
</qos_profile>
<qos_profile name="ProfileLargeDataFastFlow" base_name="BuiltinQosLibExp::Generic.StrictReliable.LargeData.FastFlow">
<datareader_qos>
<representation>
<value>
<element>XCDR2_DATA_REPRESENTATION</element>
</value>
</representation>
<liveliness>
<lease_duration>
<sec>3</sec>
<nanosec>0</nanosec>
</lease_duration>
</liveliness>
</datareader_qos>
<datawriter_qos>
<representation>
<value>
<element>XCDR2_DATA_REPRESENTATION</element>
</value>
</representation>
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
<max_blocking_time>
<sec>1</sec>
<nanosec>0</nanosec>
</max_blocking_time>
</reliability>
<durability_service>
<history_kind>KEEP_LAST_HISTORY_QOS</history_kind>
<history_depth>8</history_depth>
</durability_service>
<liveliness>
<lease_duration>
<sec>3</sec>
<nanosec>0</nanosec>
</lease_duration>
</liveliness>
</datawriter_qos>
</qos_profile>
</qos_library>
</dds>
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