10.1.3. Statistics recommended QoS¶

Although the statistics DataWriters can be enabled using any valid QoS profile, the recommended profile is presented below. Also, the DataReaders created by the user to receive the data being published by the statistics DataWriters can use any compatible QoS profile. However, a recommended DataReader QoS profile is also provided.

10.1.3.1. Statistics DataWriter recommended QoS¶

The following table shows the recommended DataWriterQos profile for enabling the statistics DataWriters. This profile enables the pull mode operating mode on the statistics DataWriters. This entails that the DataWriters will only send information upon the reception of acknack submessages sent by the monitoring DataReader. This QoS profile is always used when the statistics DataWriters are auto-enabled. The recommended profile can be accessed through the constant STATISTICS_DATAWRITER_QOS.

Qos Policy	Value
`ReliabilityQosPolicyKind`	`RELIABLE_RELIABILITY_QOS`
`DurabilityQosPolicyKind`	`TRANSIENT_LOCAL_DURABILITY_QOS`
`PublishModeQosPolicyKind`	`ASYNCHRONOUS_PUBLISH_MODE`
`flow_controller_name`	`FASTDDS_STATISTICS_FLOW_CONTROLLER_DEFAULT`
`HistoryQosPolicyKind`	`KEEP_LAST_HISTORY_QOS`
`history_depth`	1
`PropertyPolicyQos` name = value	`"fastdds.push_mode"` = `"false"`

10.1.3.2. Statistics DataReader recommended QoS¶

The following table shows the recommended DataReaderQos profile for creating the monitoring DataReaders. The recommended profile can be accessed through constant STATISTICS_DATAREADER_QOS.

Qos Policy	Value
`ReliabilityQosPolicyKind`	`RELIABLE_RELIABILITY_QOS`
`DurabilityQosPolicyKind`	`TRANSIENT_LOCAL_DURABILITY_QOS`
`HistoryQosPolicyKind`	`KEEP_LAST_HISTORY_QOS`
`history_depth`	100
`MemoryManagementPolicy`	`PREALLOCATED_WITH_REALLOC_MEMORY_MODE`