How to configure QOS settings on FastDDS entities created by clients

[chrisg89]

Hello,

I understand the micro-dds-agent creates FastDDS entities to allow clients to produce and consume data in the DDS global data space (when FastDDSMiddleware is used).

How can the QOS settings of the FastDDS entities be configure? Specifically, we want to be able to select QOS properties on the domain participant such as:

• TransportConfigQos

On a related note, does the agent support IPC transport on domain participants facing the DDS global data space?

Steps to reproduce the issue

N/A

Expected behavior

Actual behavior

Additional information

[pablogs9]

Hello @chrisg89, it is possible to create Fast DDS entities in the Micro XRCE-DDS Agent by reference, that means that you can load an XML defining your Fast DDS profiles and then use the Micro XRCE-DDS Client to instantiate this reference.

For example here a Domain Participant is being created from the this definitions.

Here you have some more documentation: https://micro-xrce-dds.docs.eprosima.com/en/latest/client.html?highlight=references#creation-mode-client

[chrisg89]

Thank you @pablogs9