forked from bdaiinstitute/spot_ros2
-
Notifications
You must be signed in to change notification settings - Fork 0
/
custom_dds_profile.xml
33 lines (33 loc) · 1.29 KB
/
custom_dds_profile.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
<profiles>
<transport_descriptors>
<transport_descriptor>
<transport_id>udp_transport</transport_id>
<type>UDPv4</type>
</transport_descriptor>
<transport_descriptor>
<transport_id>shm_transport</transport_id>
<segment_size>10485760</segment_size>
<maxMessageSize>5242880</maxMessageSize>
<type>SHM</type>
</transport_descriptor>
</transport_descriptors>
<participant profile_name="default" is_default_profile="true">
<rtps>
<!--
Set participant transports
-->
<userTransports>
<!--
Documentation:
https://fast-dds.docs.eprosima.com/en/latest/fastdds/transport/transport.html#comm-transports-configuration
-->
<transport_id>udp_transport</transport_id>
<transport_id>shm_transport</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
</profiles>
</dds>