Fast DDS
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Introduction

  • DDS API
  • Fast DDS-Gen
  • RTPS Wire Protocol
  • Main Features
  • Contacts and Commercial support
  • 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. CMake options

Fast DDS

  • 1. Getting Started
  • 2. Library Overview
  • 3. DDS Layer
  • 4. RTPS Layer
  • 5. Discovery
  • 6. Transport Layer
  • 7. Persistence Service
  • 8. Security
  • 9. Logging
  • 10. Statistics Module
    • 10.1. Statistics Module DDS Layer
      • 10.1.1. Statistics Topic names
      • 10.1.2. Statistics Domain Participant
      • 10.1.3. Statistics recommended QoS
        • 10.1.3.1. Statistics DataWriter recommended QoS
        • 10.1.3.2. Statistics DataReader recommended QoS
      • 10.1.4. Troubleshooting
  • 11. XML profiles
  • 12. Environment variables
  • 13. PropertyPolicyQos Options
  • 14. Dynamic Topic Types
  • 15. Typical Use-Cases
  • 16. ROS 2 using Fast DDS middleware
  • 17. C++ API Reference
  • 18. Python API Reference

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

Release Notes

  • Version 2.9.1
  • Previous versions
Fast DDS
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  • 10. Statistics Module »
  • 10.1. Statistics Module DDS Layer »
  • 10.1.3. Statistics recommended QoS
  • Edit on GitHub

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

10

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

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