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DDS Layer

eProsima Fast DDS exposes two different APIs to interact with the communication service at different levels. The main API is the Data Distribution Service (DDS) Data-Centric Publish-Subscribe (DCPS) Platform Independent Model (PIM) API, or :ref:`api_pim_dds_dcps_pim` for short, which is defined by the Data Distribution Service (DDS) version 1.4 specification, to which Fast DDS complies. This section is devoted to explain the main characteristics and modes-of-use of this API under Fast DDS, providing an in depth explanation of the five modules into which it is divided:

.. toctree::
   :maxdepth: 2