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3.2.1
Logo
3.2.1

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 Requester
      • 17.1.3. RPC Replier
  • 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. Replier
        • 20.1.7.2. ReplierQos
        • 20.1.7.3. Requester
        • 20.1.7.4. RequesterQos
        • 20.1.7.5. RequestInfo
        • 20.1.7.6. RPCEntity
        • 20.1.7.7. Service
        • 20.1.7.8. 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 3.2.1 (latest)
  • Supported versions
  • Previous end-of-life versions
Back to top

13.1.3. 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.

13.1.3.1. 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

10

PropertyPolicyQos name = value

"fastdds.push_mode" = "false"

13.1.3.2. 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
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13.1.4. Troubleshooting
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13.1.2. Statistics Domain Participant
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  • 13.1.3. Statistics recommended QoS
    • 13.1.3.1. Statistics DataWriter recommended QoS
    • 13.1.3.2. Statistics DataReader recommended QoS