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Use appropriate XML to enable data-sharing delivery
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Mauro Passerino
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Sep 26, 2023
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irobot_benchmark/profiles/shared_memory_fastdds_config.xml
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<?xml version="1.0" encoding="UTF-8" ?> | ||
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles"> | ||
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<!-- Default publisher profile --> | ||
<data_writer profile_name="default publisher profile" is_default_profile="true"> | ||
<qos> | ||
<publishMode> | ||
<kind>ASYNCHRONOUS</kind> | ||
</publishMode> | ||
<data_sharing> | ||
<kind>AUTOMATIC</kind> | ||
</data_sharing> | ||
</qos> | ||
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy> | ||
</data_writer> | ||
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<data_reader profile_name="default subscription profile" is_default_profile="true"> | ||
<qos> | ||
<data_sharing> | ||
<kind>AUTOMATIC</kind> | ||
</data_sharing> | ||
</qos> | ||
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy> | ||
</data_reader> | ||
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</profiles> |