13.1. Non consolidated QoS

The PropertyPolicyQos Options are used to develop new eProsima Extensions QoS. Before consolidating a new QoS Policy, it is usually set using this generic QoS Policy. Consequently, this section is prone to frequent updates so the user is advised to check latest changes after upgrading to a different release version.

13.1.1. DataWriter operating mode QoS Policy

By default, Fast DDS DataWriters are enabled using push mode. This implies that they will add new samples into their queue, and then immediately deliver them to matched readers. For writers that produce non periodic bursts of data, this may imply saturating the network with a lot of packets, increasing the possibility of losing them on unreliable (i.e. UDP) transports. Depending on their QoS, DataReaders may also have to ignore some received samples, so they will have to be resent.

Configuring the DataWriters on pull mode offers an alternative by letting each reader pace its own data stream. It works by the writer notifying the reader what it is available, and waiting for it to request only as much as it can handle. At the cost of greater latency, this model can deliver reliability while using far fewer packets than push mode.

DataWriters periodically announce the state of their queue by means of a heartbeat. Upon reception of the heartbeat, DataReaders will request the DataWriter to send the samples they want to process. Consequently, the publishing rate can be tuned setting the heartbeat period accordingly. See Tuning Heartbeat Period for more details.

PropertyPolicyQos name

PropertyPolicyQos value

Default value





DataWriterQos wqos;

// Enable pull mode


<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<data_writer profile_name="pull_mode_datawriter_xml_profile">
            <!-- Enable pull mode -->



13.1.2. Unique network flows QoS Policy


This section is still under work.

13.1.3. Statistics Module Settings


This section is still under work.