From 7830c78e4dee81ae2945f3194b9cb14b1a3edf66 Mon Sep 17 00:00:00 2001 From: Andrea Sorbini Date: Tue, 27 Apr 2021 21:06:13 -0700 Subject: [PATCH] Update README with a reference to ros2_qos_profiles.xml Signed-off-by: Andrea Sorbini --- README.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index ad5b22b7..bde9538c 100644 --- a/README.md +++ b/README.md @@ -217,7 +217,8 @@ for different topics, but you have to use the mangled topic names In case this variable is set to `never`, the QoS settings will be loaded from the default profile as before but the ros QoS profile will be ignored. Be aware of configuring the QoS of rcl topics (`rt/rosout`, `rt/parameter_events`, -etc.) and the rmw internal topic `ros_discovery_info` correctly. +etc.) and the rmw internal topic `ros_discovery_info` correctly. This can +be achieved using the profiles defined by XML file [ros2_qos_profiles.xml](rmw_connextdds/resource/xml/ros2_qos_profiles.xml). This variable can also be set to `dds_topics: `, e.g.: `dds_topics: rt/my_topic|rt/my_ns/another_topic`. @@ -297,6 +298,9 @@ DomainParticipantQos will be used as is. Note that values `basic` and `never` will disable the same endpoint discovery optimizations controlled by [RMW_CONNEXT_DISABLE_FAST_ENDPOINT_DISCOVERY](#RMW_CONNEXT_DISABLE_FAST_ENDPOINT_DISCOVERY). +When using these values, you may replicate the default QoS configuration using +the profiles defined by XML file [ros2_qos_profiles.xml](rmw_connextdds/resource/xml/ros2_qos_profiles.xml). + ### RMW_CONNEXT_REQUEST_REPLY_MAPPING The [DDS-RPC specification](https://www.omg.org/spec/DDS-RPC/About-DDS-RPC/)