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3.2.4
Logo
3.2.4

Introduction

  • What is Fast DDS?
  • Commercial support
  • Key features
  • DDS API
  • Fast DDS-Gen
  • RTPS Wire Protocol
  • Main Features
  • Dependencies and compatibilities
  • Contributing to the documentation
  • Structure of the documentation

Installation Manual

  • 1. Linux installation from binaries
  • 2. Windows installation from binaries
  • 3. Linux installation from sources
  • 4. Windows installation from sources
  • 5. Mac OS installation from sources
  • 6. QNX 7.1 installation from sources
  • 7. CMake options

Fast DDS

  • 1. Getting Started
    • 1.1. What is DDS?
    • 1.2. What is RTPS?
    • 1.3. Writing a simple C++ publisher and subscriber application
    • 1.4. Writing a simple Python publisher and subscriber application
  • 2. Library Overview
  • 3. DDS Layer
    • 3.1. Core
      • 3.1.1. Entity
      • 3.1.2. Policy
        • 3.1.2.1. Standard QoS Policies
        • 3.1.2.2. eProsima Extensions
        • 3.1.2.3. XTypes Extensions
      • 3.1.3. Status
      • 3.1.4. Conditions and Wait-sets
    • 3.2. Domain
      • 3.2.1. DomainParticipant
      • 3.2.2. DomainParticipantListener
      • 3.2.3. DomainParticipantFactory
      • 3.2.4. Creating a DomainParticipant
      • 3.2.5. Partitions
    • 3.3. Publisher
      • 3.3.1. Publisher
      • 3.3.2. PublisherListener
      • 3.3.3. Creating a Publisher
      • 3.3.4. DataWriter
      • 3.3.5. DataWriterListener
      • 3.3.6. Creating a DataWriter
      • 3.3.7. Publishing data
    • 3.4. Subscriber
      • 3.4.1. Subscriber
      • 3.4.2. SubscriberListener
      • 3.4.3. Creating a Subscriber
      • 3.4.4. DataReader
      • 3.4.5. DataReaderListener
      • 3.4.6. Creating a DataReader
      • 3.4.7. SampleInfo
      • 3.4.8. Accessing received data
    • 3.5. Topic
      • 3.5.1. Topics, keys and instances
      • 3.5.2. TopicDescription
      • 3.5.3. Topic
      • 3.5.4. ContentFilteredTopic
      • 3.5.5. TopicListener
      • 3.5.6. Definition of data types
      • 3.5.7. Creating a Topic
      • 3.5.8. Filtering data on a Topic
      • 3.5.9. The default SQL-like filter
      • 3.5.10. Using custom filters
      • 3.5.11. Where is filtering applied: writer vs reader side
      • 3.5.12. Fast DDS-Gen for data types source code generation
  • 4. RTPS Layer
  • 5. Discovery
    • 5.3.1. General Discovery Settings
    • 5.3.2. SIMPLE Discovery Settings
    • 5.3.3. STATIC Discovery Settings
    • 5.3.4. Discovery Server Settings
    • 5.3.5. DomainParticipantListener Discovery Callbacks
  • 6. Transport Layer
    • 6.1. Transport API
    • 6.2. UDP Transport
    • 6.3. TCP Transport
    • 6.4. Shared Memory Transport
    • 6.5. Data-sharing delivery
    • 6.6. Intra-process delivery
    • 6.7. TLS over TCP
    • 6.8. Listening Locators
    • 6.9. Announced Locators
    • 6.10. Interface Whitelist
    • 6.11. Interfaces configuration
    • 6.12. Disabling all Multicast Traffic
  • 7. Persistence Service
  • 8. Security
    • 8.1. Authentication plugin: DDS:Auth:PKI-DH
    • 8.2. Access control plugin: DDS:Access:Permissions
      • Domain Governance XSD
      • DomainParticipant Permissions XSD
    • 8.3. Cryptographic plugin: DDS:Crypto:AES-GCM-GMAC
    • 8.4. Logging plugin: DDS:Logging:DDS_LogTopic
    • 8.5. PKCS#11 support
  • 9. Logging
    • 9.1. Module Structure
    • 9.2. Log Entry Specification
    • 9.3. Logging Thread
    • 9.4. Logging Messages
    • 9.5. Module Configuration
    • 9.6. Filters
    • 9.7. Consumers
    • 9.8. Disable Logging Module
    • 9.9. Old Log macros disable
  • 10. XML profiles
    • 10.1. Creating an XML profiles file
    • 10.2. DomainParticipantFactory profiles
    • 10.3. DomainParticipant profiles
    • 10.4. DataWriter profiles
    • 10.5. DataReader profiles
    • 10.6. Topic profiles
    • 10.7. Transport descriptors
    • 10.8. Intra-process delivery profiles
    • 10.9. Log profiles
    • 10.10. Dynamic Types profiles
    • 10.11. Common
    • 10.12. Example
  • 11. Environment variables
  • 12. PropertyPolicyQos Options
    • 12.1. Non consolidated QoS
    • 12.2. Flow Controller Settings
    • 12.3. Persistence Service Settings
    • 12.4. Security Plugins Settings
    • 12.5. Logging Module Settings
    • 12.6. Ignore Local Endpoints
  • 13. Statistics Module
    • 13.1. Statistics Module DDS Layer
      • 13.1.1. Statistics Topic names
      • 13.1.2. Statistics Domain Participant
      • 13.1.3. Statistics recommended QoS
      • 13.1.4. Troubleshooting
    • 13.2. Monitor Service
      • 13.2.1. Introduction
      • 13.2.2. Monitor Service Topics
      • 13.2.3. Monitor Service Configuration
  • 14. XTypes
    • 14.1. Remote Data Types Discovery
    • 14.2. Dynamic Language Binding
    • 14.3. Serialization Utilities
    • 14.4. Dynamic Types IDL Parsing
  • 15. Typical Use-Cases
    • 15.1. Large Data mode and Fast DDS over TCP
      • 15.1.1. Large Data Mode
      • 15.1.2. Large Data with configuration options
      • 15.1.3. TCP Communication with Discovery Server
    • 15.2. Fast DDS over WIFI
      • 15.2.1. Configuring Initial Peers
      • 15.2.2. Disabling multicast discovery
      • 15.2.3. Discovery Server
    • 15.3. Well Known Network Deployments
    • 15.4. Large Data Rates
    • 15.5. Topics with many subscribers
    • 15.6. Real-time behavior
      • 15.6.1. Tuning allocations
      • 15.6.2. Non-blocking calls
    • 15.7. Reduce memory usage
    • 15.8. Zero-Copy communication
    • 15.9. Unique network flows
    • 15.10. Statistics module
    • 15.11. Dynamic network interfaces
    • 15.12. How to use eProsima DDS Record and Replay
    • 15.13. Next Steps
    • 15.14. Request-Reply communication
    • 15.15. Remote type discovery and endpoint matching
  • 16. ROS 2 using Fast DDS middleware
    • 16.1. Configuring Fast DDS in ROS 2
    • 16.2. Use ROS 2 with Fast-DDS Discovery Server
  • 17. RPC over DDS
    • 17.1. RPC over DDS Request-Reply API overview
      • 17.1.1. RPC Service
      • 17.1.2. RPC Replier
      • 17.1.3. RPC Requester
    • 17.2. Exceptions
  • 18. Troubleshooting
  • 19. Frequently Asked Questions
    • 19.1. Frequently Asked Getting Started Questions
    • 19.2. DDS LAYER Frequently Asked Questions
    • 19.3. RTPS LAYER Frequently Asked Questions
    • 19.4. Discovery Frequently Asked Questions
    • 19.5. TRANSPORT LAYER Frequently Asked Questions
    • 19.6. PERSISTENCE SERVICE Frequently Asked Questions
    • 19.7. Security Frequently Asked Questions
    • 19.8. Logging Frequently Asked Questions
    • 19.9. XML PROFILES Frequently Asked Questions
    • 19.10. Environment Variables Frequently Asked Questions
    • 19.11. Statistics Module Frequently Asked Questions
    • 19.12. XTypes Frequently Asked Questions
  • 20. C++ API Reference
    • 20.1. DDS DCPS PIM
      • 20.1.1. Core
        • 20.1.1.1. Condition
          • 20.1.1.1.1. Condition
          • 20.1.1.1.2. ConditionSeq
          • 20.1.1.1.3. GuardCondition
          • 20.1.1.1.4. StatusCondition
          • 20.1.1.1.5. Wait-set
        • 20.1.1.2. DomainEntity
        • 20.1.1.3. Entity
        • 20.1.1.4. LoanableArray
        • 20.1.1.5. LoanableCollection
        • 20.1.1.6. LoanableSequence
        • 20.1.1.7. Policy
          • 20.1.1.7.1. DataRepresentationId
          • 20.1.1.7.2. DataRepresentationQosPolicy
          • 20.1.1.7.3. DataSharingQosPolicy
          • 20.1.1.7.4. DataSharingKind
          • 20.1.1.7.5. DeadlineQosPolicy
          • 20.1.1.7.6. DestinationOrderQosPolicy
          • 20.1.1.7.7. DestinationOrderQosPolicyKind
          • 20.1.1.7.8. DisablePositiveACKsQosPolicy
          • 20.1.1.7.9. DurabilityQosPolicy
          • 20.1.1.7.10. DurabilityQosPolicyKind
          • 20.1.1.7.11. DurabilityServiceQosPolicy
          • 20.1.1.7.12. EntityFactoryQosPolicy
          • 20.1.1.7.13. GenericDataQosPolicy
          • 20.1.1.7.14. GroupDataQosPolicy
          • 20.1.1.7.15. HistoryQosPolicy
          • 20.1.1.7.16. HistoryQosPolicyKind
          • 20.1.1.7.17. LatencyBudgetQosPolicy
          • 20.1.1.7.18. LifespanQosPolicy
          • 20.1.1.7.19. LivelinessQosPolicy
          • 20.1.1.7.20. LivelinessQosPolicyKind
          • 20.1.1.7.21. OwnershipQosPolicy
          • 20.1.1.7.22. OwnershipQosPolicyKind
          • 20.1.1.7.23. OwnershipStrengthQosPolicy
          • 20.1.1.7.24. ParticipantResourceLimitsQos
          • 20.1.1.7.25. Partition_t
          • 20.1.1.7.26. PartitionQosPolicy
          • 20.1.1.7.27. PresentationQosPolicy
          • 20.1.1.7.28. PresentationQosPolicyAccessScopeKind
          • 20.1.1.7.29. PropertyPolicyQos
          • 20.1.1.7.30. PublishModeQosPolicy
          • 20.1.1.7.31. PublishModeQosPolicyKind
          • 20.1.1.7.32. QosPolicy
          • 20.1.1.7.33. QosPolicyId_t
          • 20.1.1.7.34. ReaderDataLifecycleQosPolicy
          • 20.1.1.7.35. ReliabilityQosPolicy
          • 20.1.1.7.36. ReliabilityQosPolicyKind
          • 20.1.1.7.37. ResourceLimitsQosPolicy
          • 20.1.1.7.38. RTPSEndpointQos
          • 20.1.1.7.39. TimeBasedFilterQosPolicy
          • 20.1.1.7.40. TopicDataQosPolicy
          • 20.1.1.7.41. TransportConfigQos
          • 20.1.1.7.42. TransportPriorityQosPolicy
          • 20.1.1.7.43. TypeConsistencyEnforcementQosPolicy
          • 20.1.1.7.44. TypeConsistencyKind
          • 20.1.1.7.45. UserDataQosPolicy
          • 20.1.1.7.46. WireProtocolConfigQos
          • 20.1.1.7.47. WriterDataLifecycleQosPolicy
          • 20.1.1.7.48. WriterResourceLimitsQos
        • 20.1.1.8. StackAllocatedSequence
        • 20.1.1.9. Status
          • 20.1.1.9.1. BaseStatus
          • 20.1.1.9.2. DeadlineMissedStatus
          • 20.1.1.9.3. IncompatibleQosStatus
          • 20.1.1.9.4. InconsistentTopicStatus
          • 20.1.1.9.5. LivelinessChangedStatus
          • 20.1.1.9.6. MatchedStatus
          • 20.1.1.9.7. OfferedDeadlineMissedStatus
          • 20.1.1.9.8. OfferedIncompatibleQosStatus
          • 20.1.1.9.9. PublicationMatchedStatus
          • 20.1.1.9.10. QosPolicyCount
          • 20.1.1.9.11. QosPolicyCountSeq
          • 20.1.1.9.12. RequestedDeadlineMissedStatus
          • 20.1.1.9.13. RequestedIncompatibleQosStatus
          • 20.1.1.9.14. LivelinessLostStatus
          • 20.1.1.9.15. SampleLostStatus
          • 20.1.1.9.16. SampleRejectedStatus
          • 20.1.1.9.17. SampleRejectedStatusKind
          • 20.1.1.9.18. StatusMask
          • 20.1.1.9.19. SubscriptionMatchedStatus
        • 20.1.1.10. DDS Time_t
          • 20.1.1.10.1. Const values
          • 20.1.1.10.2. DDS Layer Duration_t
          • 20.1.1.10.3. Time_t DDS Operators
          • 20.1.1.10.4. DDS Layer Time_t
      • 20.1.2. Domain
        • 20.1.2.1. DomainParticipant
        • 20.1.2.2. DomainParticipantFactory
        • 20.1.2.3. DomainParticipantFactoryQos
        • 20.1.2.4. DomainParticipantListener
        • 20.1.2.5. DomainParticipantQos
        • 20.1.2.6. DomainParticipantExtendedQos
      • 20.1.3. Publisher
        • 20.1.3.1. DataWriter
        • 20.1.3.2. DataWriterListener
        • 20.1.3.3. DataWriterQos
        • 20.1.3.4. Publisher
        • 20.1.3.5. PublisherListener
        • 20.1.3.6. PublisherQos
        • 20.1.3.7. RTPSReliableWriterQos
      • 20.1.4. Subscriber
        • 20.1.4.1. DataReader
        • 20.1.4.2. DataReaderListener
        • 20.1.4.3. DataReaderQos
        • 20.1.4.4. InstanceStateKind
        • 20.1.4.5. ReadCondition
        • 20.1.4.6. ReaderResourceLimitsQos
        • 20.1.4.7. RTPSReliableReaderQos
        • 20.1.4.8. SampleInfo
        • 20.1.4.9. SampleStateKind
        • 20.1.4.10. Subscriber
        • 20.1.4.11. SubscriberListener
        • 20.1.4.12. SubscriberQos
        • 20.1.4.13. ViewStateKind
      • 20.1.5. Topic
        • 20.1.5.1. TopicDataType
        • 20.1.5.2. TypeSupport
        • 20.1.5.3. TopicDescription
        • 20.1.5.4. Topic
        • 20.1.5.5. ContentFilteredTopic
        • 20.1.5.6. IContentFilter
        • 20.1.5.7. IContentFilterFactory
        • 20.1.5.8. TopicListener
        • 20.1.5.9. TopicQos
        • 20.1.5.10. TypeInformationParameter
      • 20.1.6. XTypes
        • 20.1.6.1. Dynamic Language Binding
          • 20.1.6.1.1. AnnotationDescriptor
          • 20.1.6.1.2. DynamicData
          • 20.1.6.1.3. DynamicDataFactory
          • 20.1.6.1.4. DynamicPubSubType
          • 20.1.6.1.5. DynamicType
          • 20.1.6.1.6. DynamicTypeBuilder
          • 20.1.6.1.7. DynamicTypeBuilderFactory
          • 20.1.6.1.8. DynamicTypeMember
          • 20.1.6.1.9. MemberDescriptor
          • 20.1.6.1.10. TypeDescriptor
          • 20.1.6.1.11. VerbatimTextDescriptor
        • 20.1.6.2. InvalidArgumentError
        • 20.1.6.3. Type Representation
          • 20.1.6.3.1. TypeObjectRegistry
          • 20.1.6.3.2. TypeObjectUtils
        • 20.1.6.4. Utils
      • 20.1.7. RPC over DDS
        • 20.1.7.1. RemoteExceptionCode_t
        • 20.1.7.2. RemoteInvalidArgumentError
        • 20.1.7.3. RemoteOutOfResourcesError
        • 20.1.7.4. RemoteUnknownExceptionError
        • 20.1.7.5. RemoteUnknownOperationError
        • 20.1.7.6. RemoteUnsupportedError
        • 20.1.7.7. Replier
        • 20.1.7.8. ReplierQos
        • 20.1.7.9. Requester
        • 20.1.7.10. RequesterQos
        • 20.1.7.11. RequestInfo
        • 20.1.7.12. RpcBrokenPipeException
        • 20.1.7.13. RPCEntity
        • 20.1.7.14. RpcException
        • 20.1.7.15. RpcFeedCancelledException
        • 20.1.7.16. RpcOperationError
        • 20.1.7.17. RpcRemoteException
        • 20.1.7.18. RpcStatusCode
        • 20.1.7.19. RpcTimeoutException
        • 20.1.7.20. Service
        • 20.1.7.21. ServiceTypeSupport
    • 20.2. RTPS
      • 20.2.1. Attributes
        • 20.2.1.1. BuiltinAttributes
        • 20.2.1.2. c_default_RTPSParticipantAllocationAttributes
        • 20.2.1.3. DiscoveryProtocol
        • 20.2.1.4. DiscoverySettings
        • 20.2.1.5. EndpointAttributes
        • 20.2.1.6. ExternalLocators
        • 20.2.1.7. HistoryAttributes
        • 20.2.1.8. InitialAnnouncementConfig
        • 20.2.1.9. ParticipantFilteringFlags
        • 20.2.1.10. PropertyPolicy
        • 20.2.1.11. PropertyPolicyHelper
        • 20.2.1.12. ReaderAttributes
        • 20.2.1.13. ReaderTimes
        • 20.2.1.14. RemoteLocatorsAllocationAttributes
        • 20.2.1.15. RTPSParticipantAllocationAttributes
        • 20.2.1.16. RTPSParticipantAttributes
        • 20.2.1.17. RTPSWriterPublishMode
        • 20.2.1.18. SendBuffersAllocationAttributes
        • 20.2.1.19. SimpleEDPAttributes
        • 20.2.1.20. ThreadSettings
        • 20.2.1.21. VariableLengthDataLimits
        • 20.2.1.22. WriterAttributes
        • 20.2.1.23. WriterTimes
      • 20.2.2. Builtin data
        • 20.2.2.1. ContentFilterProperty
        • 20.2.2.2. ParticipantBuiltinTopicData
        • 20.2.2.3. PublicationBuiltinTopicData
        • 20.2.2.4. SubscriptionBuiltinTopicData
      • 20.2.3. Common
        • 20.2.3.1. BinaryProperty
          • 20.2.3.1.1. BinaryProperty
          • 20.2.3.1.2. BinaryPropertyHelper
          • 20.2.3.1.3. BinaryPropertySeq
        • 20.2.3.2. CacheChange
          • 20.2.3.2.1. CacheChange_t
          • 20.2.3.2.2. ChangeKind_t
        • 20.2.3.3. CDRMessage
          • 20.2.3.3.1. CDRMessage_t
          • 20.2.3.3.2. Macro definitions (#define)
        • 20.2.3.4. CDRSerialization
        • 20.2.3.5. EntityId
          • 20.2.3.5.1. Const values
          • 20.2.3.5.2. Macro definitions (#define)
          • 20.2.3.5.3. EntityId_t
          • 20.2.3.5.4. EntityId_t Operators
        • 20.2.3.6. FragmentNumber
          • 20.2.3.6.1. FragmentNumber_t
          • 20.2.3.6.2. FragmentNumberSet_t
        • 20.2.3.7. Guid
          • 20.2.3.7.1. c_Guid_Unknown
          • 20.2.3.7.2. GUID_t
          • 20.2.3.7.3. GUID_t Operators
        • 20.2.3.8. GuidPrefix
          • 20.2.3.8.1. c_GuidPrefix_Unknown
          • 20.2.3.8.2. GuidPrefix_t
          • 20.2.3.8.3. GuidPrefix_t Operators
        • 20.2.3.9. InstanceHandle
          • 20.2.3.9.1. c_InstanceHandle_Unknown
          • 20.2.3.9.2. InstanceHandle_t
          • 20.2.3.9.3. InstanceHandle_t Operators
        • 20.2.3.10. Locator
          • 20.2.3.10.1. Macro definitions (#define)
          • 20.2.3.10.2. IsAddressDefined
          • 20.2.3.10.3. IsLocatorValid
          • 20.2.3.10.4. Locator_t
          • 20.2.3.10.5. LocatorList
          • 20.2.3.10.6. LocatorListConstIterator
          • 20.2.3.10.7. LocatorListIterator
          • 20.2.3.10.8. LocatorsIterator
          • 20.2.3.10.9. Locators
          • 20.2.3.10.10. Locator Operators
        • 20.2.3.11. LocatorSelectorEntry
        • 20.2.3.12. LocatorSelector
        • 20.2.3.13. LocatorWithMask
        • 20.2.3.14. MatchingInfo
          • 20.2.3.14.1. MatchingInfo
          • 20.2.3.14.2. MatchingStatus
        • 20.2.3.15. PortParameters
        • 20.2.3.16. Property
          • 20.2.3.16.1. Property
          • 20.2.3.16.2. PropertyHelper
          • 20.2.3.16.3. PropertySeq
        • 20.2.3.17. RemoteLocators
          • 20.2.3.17.1. RemoteLocators Operators
          • 20.2.3.17.2. RemoteLocatorList
        • 20.2.3.18. SampleIdentity
        • 20.2.3.19. SequenceNumber
          • 20.2.3.19.1. c_SequenceNumber_Unknown
          • 20.2.3.19.2. SequenceNumber_t Operators
          • 20.2.3.19.3. SequenceNumber_t
          • 20.2.3.19.4. SequenceNumberDiff
          • 20.2.3.19.5. SequenceNumberHash
          • 20.2.3.19.6. SequenceNumberSet_t
          • 20.2.3.19.7. sort_seqNum
        • 20.2.3.20. SerializedPayload
          • 20.2.3.20.1. Macro definitions (#define)
          • 20.2.3.20.2. SerializedPayload_t
        • 20.2.3.21. RTPS Time_t
          • 20.2.3.21.1. Macro definitions (#define)
          • 20.2.3.21.2. Time_t RTPS Operators
          • 20.2.3.21.3. RTPS layer Time_t
        • 20.2.3.22. Token
          • 20.2.3.22.1. AuthenticatedPeerCredentialToken
          • 20.2.3.22.2. DataHolder
          • 20.2.3.22.3. DataHolderHelper
          • 20.2.3.22.4. DataHolderSeq
          • 20.2.3.22.5. IdentityStatusToken
          • 20.2.3.22.6. IdentityToken
          • 20.2.3.22.7. PermissionsCredentialToken
          • 20.2.3.22.8. PermissionsToken
          • 20.2.3.22.9. Token
        • 20.2.3.23. Types
          • 20.2.3.23.1. BuiltinEndpointSet_t
          • 20.2.3.23.2. Const values
          • 20.2.3.23.3. Count_t
          • 20.2.3.23.4. Macro definitions (#define)
          • 20.2.3.23.5. DurabilityKind_t
          • 20.2.3.23.6. Endianness_t
          • 20.2.3.23.7. EndpointKind_t
          • 20.2.3.23.8. octet
          • 20.2.3.23.9. ProtocolVersion_t
          • 20.2.3.23.10. ReliabilityKind_t
          • 20.2.3.23.11. SubmessageFlag
          • 20.2.3.23.12. TopicKind_t
          • 20.2.3.23.13. VendorId_t
        • 20.2.3.24. WriteParams
      • 20.2.4. Endpoint
      • 20.2.5. Flow control
        • 20.2.5.1. FlowControllerDescriptor
        • 20.2.5.2. FlowControllerSchedulerPolicy
      • 20.2.6. History
        • 20.2.6.1. History
        • 20.2.6.2. IChangePool
        • 20.2.6.3. IPayloadPool
        • 20.2.6.4. ReaderHistory
        • 20.2.6.5. WriterHistory
      • 20.2.7. RTPSParticipant
        • 20.2.7.1. ParticipantDiscoveryInfo
          • 20.2.7.1.1. ParticipantAuthenticationInfo
          • 20.2.7.1.2. ParticipantDiscoveryStatus
          • 20.2.7.1.3. ReaderDiscoveryStatus
          • 20.2.7.1.4. WriterDiscoveryStatus
        • 20.2.7.2. RTPSParticipant
        • 20.2.7.3. RTPSParticipantListener
      • 20.2.8. RTPSReader
        • 20.2.8.1. ReaderListener
        • 20.2.8.2. RTPSReader
      • 20.2.9. Resources
        • 20.2.9.1. MemoryManagementPolicy
      • 20.2.10. RTPSDomain
      • 20.2.11. RTPSWriter
        • 20.2.11.1. RTPSWriter
        • 20.2.11.2. WriterListener
    • 20.3. Transport
      • 20.3.1. Transport Generic Interfaces
        • 20.3.1.1. TransportDescriptorInterface
        • 20.3.1.2. TransportInterface
        • 20.3.1.3. TransportReceiverInterface
        • 20.3.1.4. PortBasedTransportDescriptor
        • 20.3.1.5. SocketTransportDescriptor
      • 20.3.2. Chaining of transports
        • 20.3.2.1. ChainingTransportDescriptor
        • 20.3.2.2. ChainingTransport
      • 20.3.3. UDP Transport
        • 20.3.3.1. UDPTransportDescriptor
        • 20.3.3.2. UDPv4TransportDescriptor
        • 20.3.3.3. UDPv6TransportDescriptor
      • 20.3.4. TCP Transport
        • 20.3.4.1. TCPTransportDescriptor
        • 20.3.4.2. TCPv4TransportDescriptor
        • 20.3.4.3. TCPv6TransportDescriptor
      • 20.3.5. Shared Memory Transport
        • 20.3.5.1. SharedMemTransportDescriptor
        • 20.3.5.2. SharedMemTransportDescriptor
    • 20.4. LOG
      • 20.4.1. Colors
        • 20.4.1.1. Color Blue
        • 20.4.1.2. Color Bright
        • 20.4.1.3. Color Bright Blue
        • 20.4.1.4. Color Bright Cyan
        • 20.4.1.5. Color Bright Green
        • 20.4.1.6. Color Bright Magenta
        • 20.4.1.7. Color Bright Red
        • 20.4.1.8. Color Bright White
        • 20.4.1.9. Color Bright Yellow
        • 20.4.1.10. Color Cyan
        • 20.4.1.11. Color Def
        • 20.4.1.12. Color Green
        • 20.4.1.13. Color Magenta
        • 20.4.1.14. Color Red
        • 20.4.1.15. Color White
        • 20.4.1.16. Color Yellow
      • 20.4.2. FileConsumer
      • 20.4.3. Log
      • 20.4.4. LogConsumer
      • 20.4.5. EPROSIMA_LOG_ERROR
      • 20.4.6. EPROSIMA_LOG_INFO
      • 20.4.7. EPROSIMA_LOG_WARNING
      • 20.4.8. OStreamConsumer
      • 20.4.9. StdoutConsumer
      • 20.4.10. StdoutErrConsumer
    • 20.5. Statistics
      • 20.5.1. DomainParticipant
      • 20.5.2. DataWriterQos
      • 20.5.3. DataReaderQos
      • 20.5.4. Topic names
  • 21. Python API Reference
    • 21.1. DDS DCPS PIM
      • 21.1.1. Core
        • 21.1.1.1. Entity
        • 21.1.1.2. DomainEntity
        • 21.1.1.3. Policy
          • 21.1.1.3.1. DataRepresentationId
          • 21.1.1.3.2. DataRepresentationQosPolicy
          • 21.1.1.3.3. DataSharingQosPolicy
          • 21.1.1.3.4. DataSharingKind
          • 21.1.1.3.5. DeadlineQosPolicy
          • 21.1.1.3.6. DestinationOrderQosPolicy
          • 21.1.1.3.7. DestinationOrderQosPolicyKind
          • 21.1.1.3.8. DisablePositiveACKsQosPolicy
          • 21.1.1.3.9. DurabilityQosPolicy
          • 21.1.1.3.10. DurabilityQosPolicyKind
          • 21.1.1.3.11. DurabilityServiceQosPolicy
          • 21.1.1.3.12. EntityFactoryQosPolicy
          • 21.1.1.3.13. GenericDataQosPolicy
          • 21.1.1.3.14. GroupDataQosPolicy
          • 21.1.1.3.15. HistoryQosPolicy
          • 21.1.1.3.16. HistoryQosPolicyKind
          • 21.1.1.3.17. LatencyBudgetQosPolicy
          • 21.1.1.3.18. LifespanQosPolicy
          • 21.1.1.3.19. LivelinessQosPolicy
          • 21.1.1.3.20. LivelinessQosPolicyKind
          • 21.1.1.3.21. OwnershipQosPolicy
          • 21.1.1.3.22. OwnershipQosPolicyKind
          • 21.1.1.3.23. OwnershipStrengthQosPolicy
          • 21.1.1.3.24. ParticipantResourceLimitsQos
          • 21.1.1.3.25. Partition_t
          • 21.1.1.3.26. PartitionQosPolicy
          • 21.1.1.3.27. PresentationQosPolicy
          • 21.1.1.3.28. PresentationQosPolicyAccessScopeKind
          • 21.1.1.3.29. PropertyPolicyQos
          • 21.1.1.3.30. PublishModeQosPolicy
          • 21.1.1.3.31. PublishModeQosPolicyKind
          • 21.1.1.3.32. QosPolicy
          • 21.1.1.3.33. QosPolicyId_t
          • 21.1.1.3.34. ReaderDataLifecycleQosPolicy
          • 21.1.1.3.35. ReliabilityQosPolicy
          • 21.1.1.3.36. ReliabilityQosPolicyKind
          • 21.1.1.3.37. ResourceLimitsQosPolicy
          • 21.1.1.3.38. RTPSEndpointQos
          • 21.1.1.3.39. TimeBasedFilterQosPolicy
          • 21.1.1.3.40. TopicDataQosPolicy
          • 21.1.1.3.41. TransportConfigQos
          • 21.1.1.3.42. TransportPriorityQosPolicy
          • 21.1.1.3.43. TypeConsistencyEnforcementQosPolicy
          • 21.1.1.3.44. TypeConsistencyKind
          • 21.1.1.3.45. UserDataQosPolicy
          • 21.1.1.3.46. WireProtocolConfigQos
          • 21.1.1.3.47. WriterDataLifecycleQosPolicy
          • 21.1.1.3.48. WriterResourceLimitsQos
        • 21.1.1.4. Status
          • 21.1.1.4.1. BaseStatus
          • 21.1.1.4.2. DeadlineMissedStatus
          • 21.1.1.4.3. IncompatibleQosStatus
          • 21.1.1.4.4. InconsistentTopicStatus
          • 21.1.1.4.5. LivelinessChangedStatus
          • 21.1.1.4.6. MatchedStatus
          • 21.1.1.4.7. OfferedDeadlineMissedStatus
          • 21.1.1.4.8. OfferedIncompatibleQosStatus
          • 21.1.1.4.9. PublicationMatchedStatus
          • 21.1.1.4.10. QosPolicyCount
          • 21.1.1.4.11. QosPolicyCountSeq
          • 21.1.1.4.12. RequestedDeadlineMissedStatus
          • 21.1.1.4.13. RequestedIncompatibleQosStatus
          • 21.1.1.4.14. LivelinessLostStatus
          • 21.1.1.4.15. SampleLostStatus
          • 21.1.1.4.16. SampleRejectedStatus
          • 21.1.1.4.17. SampleRejectedStatusKind
          • 21.1.1.4.18. StatusMask
          • 21.1.1.4.19. SubscriptionMatchedStatus
        • 21.1.1.5. LoanableArray
        • 21.1.1.6. LoanableCollection
        • 21.1.1.7. LoanableSequence
        • 21.1.1.8. StackAllocatedSequence
      • 21.1.2. Domain
        • 21.1.2.1. DomainParticipant
        • 21.1.2.2. DomainParticipantFactory
        • 21.1.2.3. DomainParticipantFactoryQos
        • 21.1.2.4. DomainParticipantListener
        • 21.1.2.5. DomainParticipantQos
      • 21.1.3. Publisher
        • 21.1.3.1. DataWriter
        • 21.1.3.2. DataWriterListener
        • 21.1.3.3. DataWriterQos
        • 21.1.3.4. Publisher
        • 21.1.3.5. PublisherListener
        • 21.1.3.6. PublisherQos
        • 21.1.3.7. RTPSReliableWriterQos
      • 21.1.4. Subscriber
        • 21.1.4.1. DataReader
        • 21.1.4.2. DataReaderListener
        • 21.1.4.3. DataReaderQos
        • 21.1.4.4. InstanceStateKind
        • 21.1.4.5. ReaderResourceLimitsQos
        • 21.1.4.6. RTPSReliableReaderQos
        • 21.1.4.7. SampleInfo
        • 21.1.4.8. SampleStateKind
        • 21.1.4.9. Subscriber
        • 21.1.4.10. SubscriberListener
        • 21.1.4.11. SubscriberQos
        • 21.1.4.12. ViewStateKind
      • 21.1.5. Topic
        • 21.1.5.1. Topic
        • 21.1.5.2. TopicDataType
        • 21.1.5.3. TopicDescription
        • 21.1.5.4. TopicListener
        • 21.1.5.5. TopicQos
        • 21.1.5.6. TypeIdV1
        • 21.1.5.7. TypeInformation
        • 21.1.5.8. TypeObjectV1
        • 21.1.5.9. TypeSupport

Fast DDS-Gen

  • 1. Introduction
  • 2. Usage
  • 3. Building a publish/subscribe application
  • 4. Building Python auxiliary libraries
  • 5. Defining a data type via IDL

Fast DDS CLI

  • 1. CLI

Docker Images

  • 1. Docker Images
    • 1.1. Leveraging Fast DDS SHM in Docker deployments
    • 1.2. Fast DDS Image
    • 1.3. Fast DDS Suite Image

Versions

  • Dependencies and compatibilities
  • Migration Guide to Fast DDS v3
  • Version 3.2.4 (latest)
  • Supported versions
  • Previous end-of-life versions
Back to top

20.1.3. PublisherΒΆ

  • 20.1.3.1. DataWriter
  • 20.1.3.2. DataWriterListener
  • 20.1.3.3. DataWriterQos
  • 20.1.3.4. Publisher
  • 20.1.3.5. PublisherListener
  • 20.1.3.6. PublisherQos
  • 20.1.3.7. RTPSReliableWriterQos
Next
20.1.3.1. DataWriter
Previous
20.1.2.6. DomainParticipantExtendedQos
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