allow builtin reader/writer to reallocate memory if needed (#221)

ros2 · Jul 31, 2018 · d179465 · d179465
1 parent 7148117
commit d179465
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_node.cpp b/rmw_fastrtps_shared_cpp/src/rmw_node.cpp
@@ -245,6 +245,12 @@ __rmw_create_node(
   participantAttrs.rtps.builtin.domainId = static_cast<uint32_t>(domain_id);
   // since the participant name is not part of the DDS spec
   participantAttrs.rtps.setName(name);
+
+  // allow reallocation to support discovery messages bigger than 5000 bytes
+  participantAttrs.rtps.builtin.readerHistoryMemoryPolicy =
+    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  participantAttrs.rtps.builtin.writerHistoryMemoryPolicy =
+    eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   // the node name is also set in the user_data
   size_t name_length = strlen(name);
   const char prefix[6] = "name=";