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dds_xrce_profile.xml
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dds_xrce_profile.xml
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<?xml version="1.0"?>
<profiles>
<participant profile_name="participant_profile">
<rtps>
<name>Ardupilot_DDS_XRCE_Client</name>
</rtps>
</participant>
<topic profile_name="time__t">
<name>rt/ap/time</name>
<dataType>builtin_interfaces::msg::dds_::Time_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
</historyQos>
</topic>
<data_writer profile_name="time__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>RELIABLE</kind>
</reliability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/time</name>
<dataType>builtin_interfaces::msg::dds_::Time_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="navsatfix0__t">
<name>rt/ap/navsat/navsat0</name>
<dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_writer profile_name="navsatfix0__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>BEST_EFFORT</kind>
</reliability>
<durability>
<kind>VOLATILE</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/navsat/navsat0</name>
<dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="statictransforms__t">
<name>rt/ap/tf_static</name>
<dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>1</depth>
</historyQos>
</topic>
<data_writer profile_name="statictransforms__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>RELIABLE</kind>
</reliability>
<durability>
<kind>TRANSIENT_LOCAL</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/tf_static</name>
<dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>1</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="batterystate0__t">
<name>rt/ap/battery/battery0</name>
<dataType>sensor_msgs::msg::dds_::BatteryState_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_writer profile_name="batterystate0__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>BEST_EFFORT</kind>
</reliability>
<durability>
<kind>VOLATILE</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/battery/battery0</name>
<dataType>sensor_msgs::msg::dds_::BatteryState_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="localpose__t">
<name>rt/ap/pose/filtered</name>
<dataType>geometry_msgs::msg::dds_::PoseStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_writer profile_name="localpose__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>BEST_EFFORT</kind>
</reliability>
<durability>
<kind>VOLATILE</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/pose/filtered</name>
<dataType>geometry_msgs::msg::dds_::PoseStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="localvelocity__t">
<name>rt/ap/twist/filtered</name>
<dataType>geometry_msgs::msg::dds_::TwistStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_writer profile_name="localvelocity__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>BEST_EFFORT</kind>
</reliability>
<durability>
<kind>VOLATILE</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/twist/filtered</name>
<dataType>geometry_msgs::msg::dds_::TwistStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="geopose__t">
<name>rt/ap/geopose/filtered</name>
<dataType>geographic_msgs::msg::dds_::GeoPoseStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_writer profile_name="geopose__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>BEST_EFFORT</kind>
</reliability>
<durability>
<kind>VOLATILE</kind>
</durability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/geopose/filtered</name>
<dataType>geographic_msgs::msg::dds_::GeoPoseStamped_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="clock__t">
<name>rt/ap/clock</name>
<dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
</historyQos>
</topic>
<data_writer profile_name="clock__dw">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<reliability>
<kind>RELIABLE</kind>
</reliability>
</qos>
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/clock</name>
<dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>20</depth>
</historyQos>
</topic>
</data_writer>
<topic profile_name="joy__t">
<name>rt/ap/joy</name>
<dataType>sensor_msgs::msg::dds_::Joy_</dataType>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
<data_reader profile_name="joy__dr">
<topic>
<kind>NO_KEY</kind>
<name>rt/ap/joy</name>
<dataType>sensor_msgs::msg::dds_::Joy_</dataType>
</topic>
</data_reader>
</profiles>