etc/ROS2TEST_QOS_PROFILES.xml

<?xml version="1.0"?>
<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/5.3.1/rti_dds_qos_profiles.xsd" version="5.3.1">
  <!-- ################################################################### -->
  <!-- ## Ros2TestQosLibrary -->
  <!-- ################################################################### -->
  <qos_library name="Ros2TestQosLibrary">
    <qos_profile name="Ros2TestDefaultQos" base_name="BuiltinQosLib::Baseline.5.3.0" is_default_qos="true">
      <participant_qos>
        <wire_protocol>
          <!-- default DDS well known ports -->
          <rtps_well_known_ports>
              <port_base>7400</port_base>
              <domain_id_gain>250</domain_id_gain>
              <participant_id_gain>2</participant_id_gain>
              <builtin_multicast_port_offset>0</builtin_multicast_port_offset>
              <builtin_unicast_port_offset>10</builtin_unicast_port_offset>
              <user_multicast_port_offset>1</user_multicast_port_offset>
              <user_unicast_port_offset>11</user_unicast_port_offset>
          </rtps_well_known_ports>
          <rtps_reserved_port_mask>MASK_DEFAULT</rtps_reserved_port_mask>
        </wire_protocol>
        <!-- <transport_builtin>
          <mask>UDPv4</mask>
          <mask>SHMEM</mask>
        </transport_builtin> -->

        <discovery>
          <accept_unknown_peers>true</accept_unknown_peers>
        </discovery>
        <discovery_config>
          <publication_writer_publish_mode>
            <kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
          </publication_writer_publish_mode>
          <subscription_writer_publish_mode>
            <kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
          </subscription_writer_publish_mode>
          <!--secure_volatile_writer_publish_mode>
            <kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
          </secure_volatile_writer_publish_mode-->
          <service_request_writer_publish_mode>
            <kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
          </service_request_writer_publish_mode>
        </discovery_config>

        <resource_limits>
          <!-- increase max property size to accommodate flow controllers -->
          <participant_property_string_max_length>8192</participant_property_string_max_length>
          <!-- disabling type-code support -->
          <type_code_max_serialized_length>0</type_code_max_serialized_length>
          <type_object_max_serialized_length>0</type_object_max_serialized_length>
          <participant_property_list_max_length>1024</participant_property_list_max_length>
        </resource_limits>

        <property>
          <value>

            <!-- === Transport ============================================================================ -->
            <!-- maximum message size -->
            <element>
              <name>dds.transport.UDPv4.builtin.parent.message_size_max</name>
              <value>1250</value>
            </element>
            <element>
              <name>dds.transport.UDPv4.builtin.send_socket_buffer_size</name>
              <value>262144</value>
            </element>
            <element>
              <name>dds.transport.UDPv4.builtin.recv_socket_buffer_size</name>
              <value>4194304</value>
            </element>

            <!-- === SHMEM Transport ====================================================================== -->
            <!-- maximum message size -->
            <element>
              <name>dds.transport.shmem.builtin.parent.message_size_max </name>
              <value>65536</value>
            </element>
            <element>
              <name>dds.transport.shmem.builtin.receive_buffer_size </name>
              <value>16777216</value>
            </element>
            <element>
              <name>dds.transport.shmem.builtin.received_message_count_max</name>
              <value>256</value>
            </element>

            <!-- allow/deny lists -->
            <!-- we try to exclude all vmware virtual network interfaces -->
            <!-- <element>
              <name>dds.transport.UDPv4.builtin.parent.deny_interfaces</name>
              <value>FOOBAR,192.168.0.11,192.168.99.99</value>
            </element>
            <element>
              <name>dds.transport.UDPv4.builtin.parent.deny_multicast_interfaces</name>
              <value>FOOBAR,192.168.0.11,192.168.99.99</value>
            </element>
            <element>
              <name>dds.transport.UDPv4.builtin.parent.allow_interfaces</name>
              <value>FOOBAR,192.168.112.2</value>
            </element>
            <element>
              <name>dds.transport.UDPv4.builtin.parent.allow_multicast_interfaces</name>
              <value>FOOBAR,192.168.112.2</value>
            </element> -->

            <!-- Fast: is 100 MB/sec (838 Mb/sec) flow controller -->
            <element>
              <name>dds.flow_controller.token_bucket.fast_flow.token_bucket.max_tokens</name>
              <value>128</value>
            </element>
            <element>
              <name>dds.flow_controller.token_bucket.fast_flow.token_bucket.tokens_added_per_period</name>
              <value>128</value>
            </element>
            <element>
              <name>dds.flow_controller.token_bucket.fast_flow.token_bucket.bytes_per_token</name>
              <value>8192</value>
            </element>
            <element>
              <name>dds.flow_controller.token_bucket.fast_flow.token_bucket.period.sec</name>
              <value>0</value>
            </element>
            <element>
              <name>dds.flow_controller.token_bucket.fast_flow.token_bucket.period.nanosec</name>
              <value>10000000</value>
            </element>

            <!-- medium: 25 MB/sec (209 Mb/sec) flow controller -->
            <element>
              <name>dds.flow_controller.token_bucket.medium_flow.token_bucket.max_tokens</name>
              <value>32</value>
            </element>
            <element>
              <name>dds.flow_controller.token_bucket.medium_flow.token_bucket.tokens_added_per_period</name>
              <value>32</value>
            </element>
            <element>
              <name>dds.flow_controller.token_bucket.medium_flow.token_bucket.bytes_per_token</name>
              <value>8192</value>
            </element>
            <element>
              <name>dds.flow_controller.token_bucket.medium_flow.token_bucket.period.sec</name>
              <value>0</value>
            </element>
            <element>
              <name>dds.flow_controller.token_bucket.medium_flow.token_bucket.period.nanosec</name>
              <value>10000000</value>
            </element>

            <!-- slow: 6.25 MB/sec (52 Mb/sec) flow controller -->
            <element>
              <name>dds.flow_controller.token_bucket.slow_flow.token_bucket.max_tokens</name>
              <value>8</value>
            </element>
            <element>
              <name>dds.flow_controller.token_bucket.slow_flow.token_bucket.tokens_added_per_period</name>
              <value>8</value>
            </element>
            <element>
              <name>dds.flow_controller.token_bucket.slow_flow.token_bucket.bytes_per_token</name>
              <value>8192</value>
            </element>
            <element>
              <name>dds.flow_controller.token_bucket.slow_flow.token_bucket.period.sec</name>
              <value>0</value>
            </element>
            <element>
              <name>dds.flow_controller.token_bucket.slow_flow.token_bucket.period.nanosec</name>
              <value>10000000</value>
            </element>

          </value>
        </property>
      </participant_qos>
      <publisher_qos>
      </publisher_qos>
      <subscriber_qos>
      </subscriber_qos>

      <datawriter_qos>
        <publish_mode>
          <kind>ASYNCHRONOUS_PUBLISH_MODE_QOS</kind>
          <flow_controller_name>dds.flow_controller.token_bucket.medium_flow</flow_controller_name>
        </publish_mode>
      </datawriter_qos>
    </qos_profile>
  </qos_library>
</dds>