The excerpt you provided discusses the non-consolidated property-assigned Quality of Service (QoS) policies that apply specifically to DataWriters in a Fast DDS (Data Distribution Service) environment. Here’s a breakdown of the key points:
Non-Consolidated Property-Assigned QoS Policies
Property Name:
fastdds.push_mode: This policy defines the operating mode of the DataWriter.
Non-consolidated QoS:
partitions: This policy allows you to specify which endpoint partitions the DataWriter will use.
Important Notes
Reliability Policy:
- The reliability kind of a DataWriter, which determines if it operates in reliable or best-effort mode, is not mutable. This means once set, you cannot change whether the publication is reliable or best effort.
- However, within the
ReliabilityQosPolicy, you can modify certain parameters, such asmax_blocking_time, at any time.
RTPSReliableWriterQos:
- Not all data members of this class are mutable. It’s important to check the specific details and limitations regarding mutability in the documentation for
RTPSReliableWriterQos.
- Not all data members of this class are mutable. It’s important to check the specific details and limitations regarding mutability in the documentation for
Modifying QoS Values
You can modify the QoS values of an already created DataWriter by using the DataWriter::set_qos() member function. This allows you to adjust configurations dynamically according to your application’s requirements after initial setup.
Additional Information
For more detailed descriptions and default values associated with each QosPolicy class, it is recommended to refer directly to the relevant sections in Fast DDS documentation.
This structured approach allows developers to effectively configure their DDS applications for optimal performance based on their specific needs while understanding the constraints related to mutability of certain QoS properties.
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