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

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Jul 31, 2018
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allow builtin reader/writer to reallocate memory if needed #221

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6 changes: 6 additions & 0 deletions rmw_fastrtps_shared_cpp/src/rmw_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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=";
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