From 19ab0a19b45a2a6438345848a18bd96819c34f7e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Luis=20Bueno=20L=C3=B3pez?= <69244257+JLBuenoLopez-eProsima@users.noreply.github.com> Date: Tue, 13 Oct 2020 16:08:45 +0200 Subject: [PATCH] Apply suggestions from code review Signed-off-by: JLBuenoLopez-eProsima Co-authored-by: Michel Hidalgo Signed-off-by: JLBuenoLopez-eProsima --- README.md | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 585bfcc58..9d6a1db71 100644 --- a/README.md +++ b/README.md @@ -34,10 +34,11 @@ You can however set it to `rmw_fastrtps_dynamic_cpp` using the environment varia However, it is possible to fully configure Fast DDS (including the history memory policy and the publication mode) using an XML file as described in [Fast DDS documentation](https://fast-dds.docs.eprosima.com/en/latest/fastdds/xml_configuration/xml_configuration.html). If you want to modify the history memory policy or the publication mode you must set environment variable `RMW_FASTRTPS_USE_QOS_FROM_XML` to 1 (it is set to 0 by default). -This tells `rmw_fastrtps` that it should override neither the history memory policy nor the publication mode from the XML. -Bear on mind that if you set this environment variable without giving any value for any of these policies, the default Fast DDS value will be used: -* History memory policy: `PREALLOCATED_MEMORY_MODE`. -* Publication mode: `SYNCHRONOUS_PUBLISH_MODE`. +This tells `rmw_fastrtps` that it should override both the history memory policy and the publication mode using the XML. +Bear in mind that if you set this environment variable but do not give a value to either of these policies, defaults will be used. +Current Fast-DDS defaults are: +* [History memory policy](https://fast-dds.docs.eprosima.com/en/latest/fastdds/dds_layer/core/policy/eprosimaExtensions.html#memorymanagementpolicy): `PREALLOCATED_MEMORY_MODE`. +* [Publication mode](https://fast-dds.docs.eprosima.com/en/latest/fastdds/dds_layer/core/policy/eprosimaExtensions.html#publishmodeqospolicy): `SYNCHRONOUS_PUBLISH_MODE`. You have two ways of telling you ROS 2 application which XML to use: 1. Placing your XML file in the running directory under the name `DEFAULT_FASTRTPS_PROFILES.xml`. @@ -94,4 +95,4 @@ Quality Declarations for the external dependencies of these packages can be foun * [Fast DDS Quality Declaration](https://github.com/eProsima/Fast-DDS/blob/master/QUALITY.md) * [Fast CDR Quality Declaration](https://github.com/eProsima/Fast-CDR/blob/master/QUALITY.md) -* [`foonathan_memory` Quality Declaration](https://github.com/eProsima/Fast-DDS/blob/master/Quality_Declaration_foonathan_memory.md) \ No newline at end of file +* [`foonathan_memory` Quality Declaration](https://github.com/eProsima/Fast-DDS/blob/master/Quality_Declaration_foonathan_memory.md)