ROS2 Built-In QoS

For Foxy version[1]

The basic QoS settings available:

How rmw_cyclonedds_cpp create default QoS ?

This sections records how rmw_cyclonedds_cpp create QoS on foxy version [1:1]

History and Depth

Reliable

Durability

LifeSpan

Deadline

Liveliness and Lease Time

LifeCycle

data lifecycle is set to false always , which means disable automatic disposal of unregister instances.

Ignore Local Publications

Additionally, rmw_cyclonedds_cpp respect to the flag: ignore_local_publications to ignore local data from same participant (DDS_IGNORELOCAL_PARTICIPANT)


  1. https://github.com/ros2/rmw_cyclonedds/blob/c12abc56983204f1d91f2d839d394528c7b29b42/rmw_cyclonedds_cpp/src/rmw_node.cpp#L1629 ↩︎ ↩︎