NDDS_QOS_PROFILES.CSROS.xml

<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/6.1.2/rti_dds_qos_profiles.xsd">
    <qos_library name="CsrosQosLib">

        <qos_profile name="ParticipantQosInterfacesSnippet">
            <participant_qos>
                <property>
                    <value>
                        <element>
                            <name>dds.transport.UDPv4.builtin.parent.allow_interfaces_list</name>
                            <value>127.0.0.*,192.168.6.*</value>
                        </element>
                    </value>
                </property>
            </participant_qos>
        </qos_profile>

        <qos_profile name="ParticipantQosTimeCriticalInterfaceSnippet">
            <participant_qos>
                <property>
                    <value>
                        <element>
                            <name>dds.transport.UDPv4.builtin.parent.allow_interfaces_list</name>
                            <value>127.0.0.*,192.168.5.*</value>
                        </element>
                    </value>
                </property>
            </participant_qos>
        </qos_profile>

        <qos_profile name="ParticipantQosPropertySnippet">
            <participant_qos>
                <property>
                    <value>
                        <element>
                          <name>dds.participant.property_validation_action</name>
                          <value>1</value>
                        </element>

                        <element>
                          <name>dds.transport.UDPv4.builtin.parent.message_size_max</name>
                          <value>65536</value>
                        </element>
                        <element>
                          <name>dds.transport.UDPv4.builtin.send_socket_buffer_size</name>
                          <value>1048576</value>
                        </element>
                        <element>
                          <name>dds.transport.UDPv4.builtin.recv_socket_buffer_size</name>
                          <value>2097152</value>
                        </element>

                        <element>
                          <name>dds.transport.shmem.builtin.parent.message_size_max</name>
                          <value>65536</value>
                        </element>
                        <element>
                          <name>dds.transport.shmem.builtin.received_message_count_max</name>
                          <value>256</value>
                        </element>
                        <element>
                          <name>dds.transport.shmem.builtin.receive_buffer_size</name>
                          <value>6684672</value>
                        </element>
                        <element>
                            <name>dds.clock.external_clock</name>
                            <value>monotonic</value>
                        </element>
                        <element>
                            <name>dds.clock.internal_clock</name>
                            <value>monotonic</value>
                        </element>
                    </value>
                </property>
            </participant_qos>
        </qos_profile>

        <qos_profile name="ParticipantQosDiscoverysSnippet">
            <participant_qos>
                <discovery>
                    <initial_peers>
                        <element>100@builtin.udpv4://239.255.0.1</element>
                        <element>100@builtin.udpv4://127.0.0.1</element>
                        <element>100@builtin.shmem://</element>
                    </initial_peers>
                </discovery>
            </participant_qos>
        </qos_profile>

        <qos_profile name="ParticipantQosResourceLimitsSnippet">
            <participant_qos>
                <resource_limits>
                    <type_object_max_serialized_length>16384</type_object_max_serialized_length>
                    <local_writer_hash_buckets>200</local_writer_hash_buckets>
                    <local_reader_hash_buckets>200</local_reader_hash_buckets>
                    <local_publisher_hash_buckets>200</local_publisher_hash_buckets>
                    <local_subscriber_hash_buckets>200</local_subscriber_hash_buckets>
                    <local_topic_hash_buckets>200</local_topic_hash_buckets>
                    <remote_writer_hash_buckets>200</remote_writer_hash_buckets>
                    <remote_reader_hash_buckets>200</remote_reader_hash_buckets>
                    <remote_participant_hash_buckets>20</remote_participant_hash_buckets>
                    <matching_writer_reader_pair_hash_buckets>200</matching_writer_reader_pair_hash_buckets>
                    <matching_reader_writer_pair_hash_buckets>200</matching_reader_writer_pair_hash_buckets>
                </resource_limits>
            </participant_qos>
        </qos_profile>

        <qos_profile name="AutoDisposeUnregisteredInstancesFalse">
            <datawriter_qos>
                <writer_data_lifecycle>
                    <autodispose_unregistered_instances>false</autodispose_unregistered_instances>
                </writer_data_lifecycle>
            </datawriter_qos>
        </qos_profile>


        <qos_profile name="XCDR2ReaderWriter">
            <datareader_qos>
                <representation>
                  <value>
                    <element>XCDR2_DATA_REPRESENTATION</element>
                  </value>
                </representation>
            </datareader_qos>
            <datawriter_qos>
                <representation>
                  <value>
                    <element>XCDR2_DATA_REPRESENTATION</element>
                  </value>
                </representation>
            </datawriter_qos>
        </qos_profile>

        <!-- ================================================================= -->
        <!-- Base QoS Profile                                                  -->
        <!-- ================================================================= -->
        <qos_profile name="ProfileDefault" is_default_qos="true" base_name="XCDR2ReaderWriter">

            <base_name>
                <element>ParticipantQosInterfacesSnippet</element>
                <element>ParticipantQosPropertySnippet</element>
                <element>ParticipantQosDiscoverysSnippet</element>
                <element>ParticipantQosResourceLimitsSnippet</element>
            </base_name>

            <participant_qos>
                <participant_name>
                    <name>CSROS Default Profile</name>
                </participant_name>

            </participant_qos>
            <datareader_qos name="bestEffortReader">
                <reliability>
                    <kind>BEST_EFFORT_RELIABILITY_QOS</kind>
                </reliability>
                <resource_limits>
                    <max_samples>64</max_samples>
                    <initial_samples>64</initial_samples>
                    <instance_hash_buckets>1</instance_hash_buckets>
                </resource_limits>
            </datareader_qos>
            <datawriter_qos name="bestEffortWriter">
                <reliability>
                    <kind>BEST_EFFORT_RELIABILITY_QOS</kind>
                </reliability>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>1</depth>
                </history>
                <resource_limits>
                    <max_samples>64</max_samples>
                    <initial_samples>64</initial_samples>
                    <instance_hash_buckets>1</instance_hash_buckets>
                </resource_limits>
            </datawriter_qos>
            <datareader_qos name="reliableReader">
                <reliability>
                    <kind>RELIABLE_RELIABILITY_QOS</kind>
                    <max_blocking_time>
                        <sec>3</sec>
                        <nanosec>0</nanosec>
                    </max_blocking_time>
                </reliability>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>16</depth>
                </history>

                <reader_resource_limits>
                    <initial_outstanding_reads>16</initial_outstanding_reads>
                    <max_outstanding_reads>16</max_outstanding_reads>
                    <max_samples_per_remote_writer>16</max_samples_per_remote_writer>
                </reader_resource_limits>

                <protocol>
                    <rtps_reliable_reader>
                        <min_heartbeat_response_delay>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </min_heartbeat_response_delay>
                        <max_heartbeat_response_delay>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </max_heartbeat_response_delay>
                        <heartbeat_suppression_duration>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </heartbeat_suppression_duration>
                        <app_ack_period>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>4000000</nanosec>
                        </app_ack_period>
                    </rtps_reliable_reader>
                </protocol>
            </datareader_qos>

            <datareader_qos name="reliableSlowReader">
                <reliability>
                    <kind>RELIABLE_RELIABILITY_QOS</kind>
                    <max_blocking_time>
                        <sec>3</sec>
                        <nanosec>0</nanosec>
                    </max_blocking_time>
                </reliability>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>256</depth>
                </history>

                <reader_resource_limits>
                    <initial_outstanding_reads>256</initial_outstanding_reads>
                    <max_outstanding_reads>256</max_outstanding_reads>
                    <max_samples_per_remote_writer>256</max_samples_per_remote_writer>
                </reader_resource_limits>

                <protocol>
                    <rtps_reliable_reader>
                        <min_heartbeat_response_delay>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </min_heartbeat_response_delay>
                        <max_heartbeat_response_delay>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </max_heartbeat_response_delay>
                        <heartbeat_suppression_duration>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </heartbeat_suppression_duration>
                    </rtps_reliable_reader>
                </protocol>
            </datareader_qos>

            <datawriter_qos name="reliableSlowWriter">
                <reliability>
                    <kind>RELIABLE_RELIABILITY_QOS</kind>
                </reliability>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>128</depth>
                </history>
                <resource_limits>
                    <max_samples>128</max_samples>
                    <initial_samples>128</initial_samples>
                    <instance_hash_buckets>1</instance_hash_buckets>
                </resource_limits>
                <protocol>
                    <rtps_reliable_writer>
                        <low_watermark>0</low_watermark>
                        <high_watermark>1</high_watermark>
                        <fast_heartbeat_period>
                            <sec>0</sec>
                            <nanosec>6000000</nanosec>
                        </fast_heartbeat_period>
                        <heartbeats_per_max_samples>128</heartbeats_per_max_samples>
                        <max_send_window_size>128</max_send_window_size>
                        <min_send_window_size>128</min_send_window_size>
                        <max_heartbeat_retries>3</max_heartbeat_retries>
                    </rtps_reliable_writer>
                </protocol>
            </datawriter_qos>

            <datawriter_qos name="reliableWriter">
                <reliability>
                    <kind>RELIABLE_RELIABILITY_QOS</kind>
                </reliability>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>16</depth>
                </history>
                <resource_limits>
                    <max_samples>16</max_samples>
                    <initial_samples>16</initial_samples>
                    <instance_hash_buckets>1</instance_hash_buckets>
                </resource_limits>
                <protocol>
                    <rtps_reliable_writer>
                        <low_watermark>0</low_watermark>
                        <high_watermark>1</high_watermark>
                        <fast_heartbeat_period>
                            <sec>0</sec>
                            <nanosec>6000000</nanosec>
                        </fast_heartbeat_period>
                        <heartbeats_per_max_samples>16</heartbeats_per_max_samples>
                        <max_send_window_size>16</max_send_window_size>
                        <min_send_window_size>16</min_send_window_size>
                        <max_heartbeat_retries>3</max_heartbeat_retries>
                    </rtps_reliable_writer>
                </protocol>
            </datawriter_qos>

            <datareader_qos name="reliableReaderAppAck">
                <reliability>
                    <kind>RELIABLE_RELIABILITY_QOS</kind>
                    <max_blocking_time>
                        <sec>3</sec>
                        <nanosec>0</nanosec>
                    </max_blocking_time>
                    <acknowledgment_kind>APPLICATION_AUTO_ACKNOWLEDGMENT_MODE</acknowledgment_kind>
                </reliability>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>16</depth>
                </history>

                <reader_resource_limits>
                    <initial_outstanding_reads>16</initial_outstanding_reads>
                    <max_outstanding_reads>16</max_outstanding_reads>
                    <max_samples_per_remote_writer>16</max_samples_per_remote_writer>
                </reader_resource_limits>

                <protocol>
                    <rtps_reliable_reader>
                        <min_heartbeat_response_delay>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </min_heartbeat_response_delay>
                        <max_heartbeat_response_delay>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </max_heartbeat_response_delay>
                        <heartbeat_suppression_duration>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </heartbeat_suppression_duration>
                        <app_ack_period>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>4000000</nanosec>
                        </app_ack_period>
                    </rtps_reliable_reader>
                </protocol>
            </datareader_qos>

            <datawriter_qos name="reliableWriterAppAck">
                <reliability>
                    <kind>RELIABLE_RELIABILITY_QOS</kind>
                    <acknowledgment_kind>APPLICATION_AUTO_ACKNOWLEDGMENT_MODE</acknowledgment_kind>
                </reliability>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>16</depth>
                </history>
                <resource_limits>
                    <max_samples>16</max_samples>
                    <initial_samples>16</initial_samples>
                    <instance_hash_buckets>1</instance_hash_buckets>
                </resource_limits>
                <protocol>
                    <rtps_reliable_writer>
                        <low_watermark>0</low_watermark>
                        <high_watermark>1</high_watermark>
                        <fast_heartbeat_period>
                            <sec>0</sec>
                            <nanosec>6000000</nanosec>
                        </fast_heartbeat_period>
                        <heartbeats_per_max_samples>16</heartbeats_per_max_samples>
                        <max_send_window_size>16</max_send_window_size>
                        <min_send_window_size>16</min_send_window_size>
                        <max_heartbeat_retries>3</max_heartbeat_retries>
                    </rtps_reliable_writer>
                </protocol>
            </datawriter_qos>
            <datareader_qos name="lateJoinerReliableReader" base_name="reliableReader">
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>32</depth>
                </history>
                <durability>
                    <kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
                </durability>
            </datareader_qos>
            <datawriter_qos name="lateJoinerReliableWriter" base_name="reliableWriter">
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>32</depth>
                </history>
                <durability>
                    <kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
                </durability>
                <resource_limits>
                    <max_samples>32</max_samples>
                    <initial_samples>32</initial_samples>
                    <instance_hash_buckets>1</instance_hash_buckets>
                </resource_limits>
                <protocol>
                    <rtps_reliable_writer>
                        <heartbeats_per_max_samples>32</heartbeats_per_max_samples>
                        <max_send_window_size>32</max_send_window_size>
                        <min_send_window_size>32</min_send_window_size>
                    </rtps_reliable_writer>
                </protocol>
            </datawriter_qos>
            <datareader_qos name="bestEffortSlowReader" topic_filter="*">
                <reliability>
                    <kind>BEST_EFFORT_RELIABILITY_QOS</kind>
                </reliability>
                <resource_limits>
                    <max_samples>256</max_samples>
                    <initial_samples>256</initial_samples>
                    <instance_hash_buckets>1</instance_hash_buckets>
                </resource_limits>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>256</depth>
                </history>
            </datareader_qos>
            <datawriter_qos name="bestEffortSlowWriter" topic_filter="*">
                <reliability>
                    <kind>BEST_EFFORT_RELIABILITY_QOS</kind>
                </reliability>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>256</depth>
                </history>
                <resource_limits>
                    <max_samples>256</max_samples>
                    <initial_samples>256</initial_samples>
                    <instance_hash_buckets>1</instance_hash_buckets>
                </resource_limits>
            </datawriter_qos>
            <datawriter_qos name="asynBatchWriter" base_name="reliableWriter">
                <publish_mode>
                    <kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
                    <flow_controller_name>DDS_DEFAULT_FLOW_CONTROLLER_NAME</flow_controller_name>
                </publish_mode>
                <batch>
                    <enable>true</enable>
                    <max_flush_delay>
                        <sec>2</sec>
                        <nanosec>0</nanosec>
                    </max_flush_delay>
                </batch>
            </datawriter_qos>
        </qos_profile>

        <qos_profile name="SnippetReliableDatawriter">
<!--            <datawriter_qos>-->
<!--                <reliability>-->
<!--                    <kind>RELIABLE_RELIABILITY_QOS</kind>-->
<!--                    <acknowledgment_kind>APPLICATION_AUTO_ACKNOWLEDGMENT_MODE</acknowledgment_kind>-->
<!--                </reliability>-->
<!--                <resource_limits>-->
<!--                    <max_samples>1</max_samples>-->
<!--                    <initial_samples>1</initial_samples>-->
<!--                </resource_limits>-->
<!--                <protocol>-->
<!--                    <rtps_reliable_writer>-->
<!--                        <fast_heartbeat_period>-->
<!--                            <sec>0</sec>-->
<!--                            <nanosec>2000000</nanosec>-->
<!--                        </fast_heartbeat_period>-->
<!--                        <heartbeats_per_max_samples>1</heartbeats_per_max_samples>-->
<!--                    </rtps_reliable_writer>-->
<!--                </protocol>-->
<!--            </datawriter_qos>-->
            <datawriter_qos>
                <reliability>
                    <kind>RELIABLE_RELIABILITY_QOS</kind>
                    <acknowledgment_kind>APPLICATION_AUTO_ACKNOWLEDGMENT_MODE</acknowledgment_kind>
                </reliability>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>1</depth>
                </history>
                <resource_limits>
                    <max_samples>8</max_samples>
                    <initial_samples>8</initial_samples>
                    <instance_hash_buckets>1</instance_hash_buckets>
                </resource_limits>
                <protocol>
                    <rtps_reliable_writer>
                        <fast_heartbeat_period>
                            <sec>0</sec>
                            <nanosec>250000000</nanosec>
                        </fast_heartbeat_period>
                    </rtps_reliable_writer>
                </protocol>
            </datawriter_qos>
        </qos_profile>
        <qos_profile name="SnippetReliableDatareader">
<!--            <datareader_qos name="ReliableDataReader">-->
<!--                <reliability>-->
<!--                    <kind>RELIABLE_RELIABILITY_QOS</kind>-->
<!--                    <acknowledgment_kind>APPLICATION_AUTO_ACKNOWLEDGMENT_MODE</acknowledgment_kind>-->
<!--                    <max_blocking_time>-->
<!--                        <sec>3</sec>-->
<!--                        <nanosec>0</nanosec>-->
<!--                    </max_blocking_time>-->
<!--                </reliability>-->
<!--                <history>-->
<!--                    <kind>KEEP_LAST_HISTORY_QOS</kind>-->
<!--                    <depth>100</depth>-->
<!--                </history>-->
<!--            </datareader_qos>-->
            <datareader_qos>
                <reliability>
                    <kind>RELIABLE_RELIABILITY_QOS</kind>
                    <max_blocking_time>
                        <sec>3</sec>
                        <nanosec>0</nanosec>
                    </max_blocking_time>
                    <acknowledgment_kind>APPLICATION_AUTO_ACKNOWLEDGMENT_MODE</acknowledgment_kind>
                </reliability>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>5</depth>
                </history>
            </datareader_qos>
        </qos_profile>
        <qos_profile name="LatencyQos">
            <datawriter_qos>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>1</depth>
                </history>

                <!--
                Setting reliability.kind = RELIABLE_RELIABILITY_QOS, data samples
                originating from a single DataWriter cannot be made available to the
                DataReader if there are previous data samples that have not been
                received yet due to a communication error.

                The default value is RELIABLE_RELIABILITY_QOS.
                It can be modified to BEST_EFFORT_RELIABILITY_QOS
                using the command-line option -bestEffort.
                -->
                <reliability>
                    <kind>BEST_EFFORT_RELIABILITY_QOS</kind>
                    <max_blocking_time>
                        <sec>DURATION_INFINITE_SEC</sec>
                        <nanosec>DURATION_INFINITE_NSEC</nanosec>
                    </max_blocking_time>
                </reliability>

                <!--

                The Durability QoS policy specifies whether or not Connext will store and
                deliver previously published data samples to new DataReaders that join the
                network later.

                Important: durability.kind and durability.direct_communication are configured
                automatically within the source code. To modify them, use the input commands
                -durability and -noDirectCommunication.

                The default value of _DirectCommunication is true.
                The default value of _Durability is DDS_VOLATILE_DURABILITY_QOS

                if _DirectCommunication is false
                  if _Durability is DDS_TRANSIENT_DURABILITY_QOS or DDS_PERSISTENT_DURABILITY_QOS
                    <durability>
                      <kind>_Durability</kind>
                      <direct_communication>_DirectCommunication</direct_communication>
                    </durability>
                -->

                <!--
                The number of samples for which Connext will set aside space.
                See the comments above for more information.
                -->
                <resource_limits>
                    <max_samples>LENGTH_UNLIMITED</max_samples>
                    <initial_samples>100</initial_samples>
                    <max_samples_per_instance>LENGTH_UNLIMITED</max_samples_per_instance>
                </resource_limits>

                <writer_resource_limits>
                    <max_remote_reader_filters>0</max_remote_reader_filters>
                </writer_resource_limits>
                <!--
                The behavioral contract under which the DataWriter will carry out the
                reliability protocol. See the comments above for more information.
                -->
                <protocol>
                    <rtps_reliable_writer>
                        <low_watermark>10</low_watermark>
                        <high_watermark>100</high_watermark>
                        <heartbeats_per_max_samples>1000</heartbeats_per_max_samples>
                        <!--                        <heartbeat_period>
                                                    <sec>DURATION_ZERO_SEC</sec>
                                                    <nanosec>10000000</nanosec>
                                                </heartbeat_period>
                                                <fast_heartbeat_period>
                                                    <sec>DURATION_ZERO_SEC</sec>
                                                    <nanosec>1000000</nanosec>
                                                </fast_heartbeat_period>-->
                        <late_joiner_heartbeat_period>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>10000000</nanosec>
                        </late_joiner_heartbeat_period>
                        <max_heartbeat_retries>LENGTH_UNLIMITED</max_heartbeat_retries>
                        <min_nack_response_delay>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </min_nack_response_delay>
                        <max_nack_response_delay>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </max_nack_response_delay>
                        <min_send_window_size>LENGTH_UNLIMITED</min_send_window_size>
                        <max_send_window_size>LENGTH_UNLIMITED</max_send_window_size>
                    </rtps_reliable_writer>
                </protocol>

                <writer_data_lifecycle>
                    <autodispose_unregistered_instances>false</autodispose_unregistered_instances>
                </writer_data_lifecycle>

            </datawriter_qos>
            <datareader_qos>
                <!--
                The default value of reliability.kind is RELIABLE_RELIABILITY_QOS.

                The reliability.kind can be modified to BEST_EFFORT_RELIABILITY_QOS
                by using the command-line option -bestEffort.
                -->
                <reliability>
                    <kind>BEST_EFFORT_RELIABILITY_QOS</kind>
                </reliability>

                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>1</depth>
                </history>

                <!--
                DurabilityQos policy specifies whether or not Connext will store and
                deliver previously published data samples to new DDSDataReader entities
                that join the network later.

                Important: durability.kind and durability.direct_communication are configured
                automatically within the source code. To modify them, use the input commands
                -durability and -noDirectCommunication.

                The default value of _DirectCommunication is true.
                The default value of _Durability is DDS_VOLATILE_DURABILITY_QOS

                if _DirectCommunication is false
                  if _Durability is DDS_TRANSIENT_DURABILITY_QOS or DDS_PERSISTENT_DURABILITY_QOS
                    <durability>
                      <kind>_Durability</kind>
                      <direct_communication>_DirectCommunication</direct_communication>
                    </durability>
                -->

                <!--
                The number of samples for which the middleware will set aside space.
                See the comments above for more information.
                -->
                <resource_limits>
                    <max_samples>100</max_samples>
                    <initial_samples>100</initial_samples>
                    <max_samples_per_instance>100</max_samples_per_instance>
                </resource_limits>

                <reader_resource_limits>
                    <initial_outstanding_reads>4</initial_outstanding_reads>
                    <max_outstanding_reads>4</max_outstanding_reads>
                    <max_samples_per_remote_writer>100</max_samples_per_remote_writer>
                </reader_resource_limits>

                <!--
                The behavioral contract under which the DataReader will carry out the
                reliability protocol. See the comments above for more information.
                -->
                <protocol>
                    <rtps_reliable_reader>
                        <min_heartbeat_response_delay>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </min_heartbeat_response_delay>
                        <max_heartbeat_response_delay>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </max_heartbeat_response_delay>
                        <heartbeat_suppression_duration>
                            <sec>DURATION_ZERO_SEC</sec>
                            <nanosec>DURATION_ZERO_NSEC</nanosec>
                        </heartbeat_suppression_duration>
                    </rtps_reliable_reader>
                </protocol>
            </datareader_qos>
        </qos_profile>
        <qos_profile name="ProfileNonTimeCritical" base_name="ProfileDefault">
            <participant_qos>
                <participant_name>
                    <name>Non time critical</name>
                </participant_name>
            </participant_qos>

            <datawriter_qos topic_filter="*csr/logMessage" base_name="ProfileDefault::asynBatchWriter">
                <batch>
                    <max_samples>100</max_samples>
                    <max_data_bytes>2800</max_data_bytes>
                </batch>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>300</depth>
                </history>
                <resource_limits>
                    <max_samples>300</max_samples>
                    <initial_samples>300</initial_samples>
                </resource_limits>
                <protocol>
                    <rtps_reliable_writer>
                        <heartbeats_per_max_samples>300</heartbeats_per_max_samples>
                        <max_send_window_size>300</max_send_window_size>
                        <min_send_window_size>300</min_send_window_size>
                    </rtps_reliable_writer>
                </protocol>
            </datawriter_qos>
            <datawriter_qos topic_filter="*Profiling" base_name="ProfileDefault::asynBatchWriter">
                <batch>
                    <max_samples>800</max_samples>
                    <max_data_bytes>2800</max_data_bytes>
                    <max_flush_delay>
                        <sec>1</sec>
                        <nanosec>0</nanosec>
                    </max_flush_delay>
                </batch>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>1600</depth>
                </history>
                <resource_limits>
                    <max_samples>1600</max_samples>
                    <initial_samples>1600</initial_samples>
                </resource_limits>
                <protocol>
                    <rtps_reliable_writer>
                        <heartbeats_per_max_samples>1600</heartbeats_per_max_samples>
                        <max_send_window_size>1600</max_send_window_size>
                        <min_send_window_size>1600</min_send_window_size>
                    </rtps_reliable_writer>
                </protocol>
            </datawriter_qos>
            <datawriter_qos topic_filter="*veryFastAppHeartbeat" base_name="ProfileDefault::bestEffortWriter">
                <base_name>
                    <element>AutoDisposeUnregisteredInstancesFalse</element>
                </base_name>
                <liveliness>
                    <kind>DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
                    <lease_duration>
                        <sec>0</sec>
                        <nanosec>10000000</nanosec>
                    </lease_duration>
                </liveliness>
                <transport_selection>
                  <enabled_transports>
                    <element>shmem</element>
                  </enabled_transports>
                </transport_selection>
            </datawriter_qos>

            <datareader_qos topic_filter="*veryFastAppHeartbeat" base_name="ProfileDefault::bestEffortReader">
                <liveliness>
                    <kind>DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
                    <lease_duration>
                        <sec>0</sec>
                        <nanosec>10000000</nanosec>
                    </lease_duration>
                </liveliness>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>128</depth>
                </history>
                <resource_limits>
                    <max_samples>128</max_samples>
                    <initial_samples>128</initial_samples>
                    <instance_hash_buckets>1</instance_hash_buckets>
                    <initial_instances>24</initial_instances>
                </resource_limits>

                <transport_selection>
                  <enabled_transports>
                    <element>shmem</element>
                  </enabled_transports>
                </transport_selection>

            </datareader_qos>

            <datawriter_qos topic_filter="*fastAppHeartbeat" base_name="ProfileDefault::bestEffortWriter">
                <base_name>
                    <element>AutoDisposeUnregisteredInstancesFalse</element>
                </base_name>
                <liveliness>
                    <kind>DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
                    <lease_duration>
                        <sec>0</sec>
                        <nanosec>40000000</nanosec>
                    </lease_duration>
                </liveliness>
                <transport_selection>
                  <enabled_transports>
                    <element>shmem</element>
                  </enabled_transports>
                </transport_selection>
            </datawriter_qos>

            <datareader_qos topic_filter="*fastAppHeartbeat" base_name="ProfileDefault::bestEffortReader">
                <liveliness>
                    <kind>DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
                    <lease_duration>
                        <sec>0</sec>
                        <nanosec>40000000</nanosec>
                    </lease_duration>
                </liveliness>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>128</depth>
                </history>
                <resource_limits>
                    <max_samples>128</max_samples>
                    <initial_samples>128</initial_samples>
                    <instance_hash_buckets>1</instance_hash_buckets>
                    <initial_instances>24</initial_instances>
                </resource_limits>

                <transport_selection>
                  <enabled_transports>
                    <element>shmem</element>
                  </enabled_transports>
                </transport_selection>

            </datareader_qos>

            <datawriter_qos topic_filter="*appHeartbeat" base_name="ProfileDefault::bestEffortWriter">
                <base_name>
                    <element>AutoDisposeUnregisteredInstancesFalse</element>
                </base_name>
                <liveliness>
                    <kind>DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
                    <lease_duration>
                        <sec>4</sec>
                        <nanosec>0</nanosec>
                    </lease_duration>
                </liveliness>
            </datawriter_qos>

            <datareader_qos topic_filter="*appHeartbeat" base_name="ProfileDefault::bestEffortReader">
                <liveliness>
                    <kind>DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
                    <lease_duration>
                        <sec>4</sec>
                        <nanosec>0</nanosec>
                    </lease_duration>
                </liveliness>
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>128</depth>
                </history>
                <resource_limits>
                    <max_samples>128</max_samples>
                    <initial_samples>128</initial_samples>
                    <instance_hash_buckets>1</instance_hash_buckets>
                    <initial_instances>24</initial_instances>
                </resource_limits>
            </datareader_qos>

            <datareader_qos topic_filter="*faultDetection" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*faultDetection" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*manipulateReq" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*manipulateReq" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*mctReq" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*mctReq" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*mctAck" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*mctAck" base_name="ProfileDefault::reliableWriter"/>

            <datawriter_qos topic_filter="*/2kHz" base_name="ProfileDefault::bestEffortWriter">
                <transport_selection>
                  <enabled_transports>
                    <element>shmem</element>
                  </enabled_transports>
                </transport_selection>
                <writer_resource_limits>
                    <max_remote_reader_filters>0</max_remote_reader_filters>
                </writer_resource_limits>
            </datawriter_qos>

            <datareader_qos topic_filter="*/2kHz" base_name="ProfileDefault::bestEffortReader">
                <transport_selection>
                  <enabled_transports>
                    <element>shmem</element>
                  </enabled_transports>
                </transport_selection>
            </datareader_qos>

            <datareader_qos topic_filter="*measuredPoseTwistJaw_bTVMt" base_name="ProfileDefault::bestEffortReader">
            </datareader_qos>

            <datareader_qos topic_filter="*measuredPoseTwistJaw_vTVMg" base_name="ProfileDefault::bestEffortReader">
            </datareader_qos>

            <datareader_qos topic_filter="*measuredPoseTwistJaw_cTVMs" base_name="ProfileDefault::bestEffortReader">
            </datareader_qos>

            <datareader_qos topic_filter="*osim*" base_name="ProfileDefault::bestEffortReader">
            <history>
                <kind>KEEP_LAST_HISTORY_QOS</kind>
                <depth>10</depth>
            </history>
            </datareader_qos>

            <datareader_qos topic_filter="*ecmReq" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*ecmReq" base_name="ProfileDefault::reliableWriter">
                <history>
                    <kind>KEEP_LAST_HISTORY_QOS</kind>
                    <depth>3</depth>
                </history>
            </datawriter_qos>
            <datareader_qos topic_filter="*ecmAck" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*ecmAck" base_name="ProfileDefault::reliableWriter"/>

            <datareader_qos topic_filter="*Service*" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*Service*" base_name="ProfileDefault::reliableWriter"/>

            <datareader_qos topic_filter="*setLedMode" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*setLedMode" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*upsReq" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*upsReq" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*upsAck" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*upsAck" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*systemState" base_name="ProfileDefault::lateJoinerReliableReader"/>
            <datawriter_qos topic_filter="*systemState" base_name="ProfileDefault::lateJoinerReliableWriter"/>
            <datareader_qos topic_filter="*stateLog" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*stateLog" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*endoscopeState" base_name="ProfileDefault::lateJoinerReliableReader"/>
            <datawriter_qos topic_filter="*endoscopeState" base_name="ProfileDefault::lateJoinerReliableWriter"/>
            <datareader_qos topic_filter="*surgeryState" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*surgeryState" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*energyCtrl" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*energyCtrl" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*EguReq" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*EguReq" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*ultrasonicGeneratorAck" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*ultrasonicGeneratorAck" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*ultrasonicGeneratorReq" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*ultrasonicGeneratorReq" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*behaviorAck" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*behaviorAck" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*behaviorReq" base_name="ProfileDefault::reliableReaderAppAck"/>
            <datawriter_qos topic_filter="*behaviorReq" base_name="ProfileDefault::reliableWriterAppAck"/>
            <datareader_qos topic_filter="*systemSound" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*systemSound" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*changeInstrument" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*changeInstrument" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*manipulateAck" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*manipulateAck" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*robotIoState" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*robotIoState" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*arm/rtrk/request" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*arm/rtrk/request" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*arm/kin/param" base_name="ProfileDefault::lateJoinerReliableReader"/>
            <datawriter_qos topic_filter="*arm/kin/param" base_name="ProfileDefault::lateJoinerReliableWriter"/>
            <datareader_qos topic_filter="*arm/behavior/teleopCommand/ack" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*arm/behavior/teleopCommand/ack" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*hardwareInfo" base_name="ProfileDefault::lateJoinerReliableReader"/>
            <datawriter_qos topic_filter="*hardwareInfo" base_name="ProfileDefault::lateJoinerReliableWriter"/>
            <datareader_qos topic_filter="*jointLimit" base_name="ProfileDefault::lateJoinerReliableReader"/>
            <datawriter_qos topic_filter="*jointLimit" base_name="ProfileDefault::lateJoinerReliableWriter"/>
            <datareader_qos topic_filter="*sgiId" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*sgiId" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*powerReq" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*powerReq" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*logMessage" base_name="ProfileDefault::reliableSlowReader"/>
            <datawriter_qos topic_filter="*logMessage" base_name="ProfileDefault::reliableSlowWriter"/>
            <datareader_qos topic_filter="ParameterServer*" base_name="ProfileDefault::bestEffortSlowReader"/>
            <datawriter_qos topic_filter="ParameterServer*" base_name="ProfileDefault::bestEffortSlowWriter"/>
            <datareader_qos topic_filter="*vctReq" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*vctReq" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*audioReq" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*audioReq" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*vctAudioReq" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*vctAudioReq" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*talkConsoleReq" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*talkConsoleReq" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*atpCommReq" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*atpCommReq" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*linkStat" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*linkStat" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*setToolParam" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*setToolParam" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*toolHeader" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*toolHeader" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*rfidMemoryRead" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*rfidMemoryRead" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*setRecoverState" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*setRecoverState" base_name="ProfileDefault::reliableWriter"/>
            <datareader_qos topic_filter="*/FRL/test" base_name="ProfileDefault::reliableReader"/>
            <datawriter_qos topic_filter="*/FRL/test" base_name="ProfileDefault::reliableWriter"/>
        </qos_profile>
        <qos_profile name="ProfileTimeCritical" base_name="LatencyQos">

            <base_name>
                <element>ParticipantQosTimeCriticalInterfaceSnippet</element>
                <element>ParticipantQosPropertySnippet</element>
<!--                <element>ParticipantQosDiscoverysSnippet</element>-->
                <element>ParticipantQosResourceLimitsSnippet</element>
            </base_name>

            <participant_qos>
                <participant_name>
                    <name>Time critical</name>
                </participant_name>
                <receiver_pool>
                    <thread>
                        <cpu_list>
                            <element>12</element>
                            <element>13</element>
                            <element>27</element>
                            <element>28</element>
                            <element>29</element>
                        </cpu_list>
                        <mask>DDS_THREAD_SETTINGS_REALTIME_PRIORITY</mask>
                        <priority>99</priority>
                    </thread>
                </receiver_pool>
                <event>
                    <thread>
                        <cpu_list>
                            <element>11</element>
                        </cpu_list>
                        <mask>DDS_THREAD_SETTINGS_REALTIME_PRIORITY</mask>
                        <priority>99</priority>
                    </thread>
                </event>
            </participant_qos>
        </qos_profile>
        <qos_profile name="ProfileLargeDataFastFlow" base_name="BuiltinQosLibExp::Generic.StrictReliable.LargeData.FastFlow">
            <datareader_qos>
                <representation>
                  <value>
                    <element>XCDR2_DATA_REPRESENTATION</element>
                  </value>
                </representation>
                <liveliness>
                    <lease_duration>
                        <sec>3</sec>
                        <nanosec>0</nanosec>
                    </lease_duration>
                </liveliness>
            </datareader_qos>
            <datawriter_qos>
                <representation>
                  <value>
                    <element>XCDR2_DATA_REPRESENTATION</element>
                  </value>
                </representation>
                <reliability>
                    <kind>RELIABLE_RELIABILITY_QOS</kind>
                    <max_blocking_time>
                        <sec>1</sec>
                        <nanosec>0</nanosec>
                    </max_blocking_time>
                </reliability>
                <durability_service>
                    <history_kind>KEEP_LAST_HISTORY_QOS</history_kind>
                    <history_depth>8</history_depth>
                </durability_service>
                <liveliness>
                    <lease_duration>
                        <sec>3</sec>
                        <nanosec>0</nanosec>
                    </lease_duration>
                </liveliness>
            </datawriter_qos>
        </qos_profile>
    </qos_library>
</dds>