[RTPS_HISTORY Error] history payload size of '5000' bytes is too small

[sloretz]

The memory policy used by HistoryAttributes is PREALLOCATED_MEMORY_MODE. Would it be possible to expose this to users? The preallocated size is too small for FastRTPS to communicate successfully with RTI connext in some situations.

Connext by default sends TypeObject information as part of the DDS-XTYPES. As far as I can tell the maximum size of a TypeObject is unbounded. This can result in failure to match and a lot of console spam if a message type is big enough.

[RTPS_HISTORY Error] Change payload size of '5100' bytes is larger than the history payload size of '5000' bytes [...]

See also ros2/rmw_connext#288 and ros2/rmw_fastrtps#194 and this comment.

[MiguelCompany]

Guess we could add reader and writer history attributes to the BuiltinAttributes class, and also provide support for them in the XML parser.

Would that be enough?

[sloretz]

As in it would allow something like the following? I think that would do it.

ParticipantAttributes participantAttrs;
// ...
participantAttrs.rtps.builtin.readerHistoryMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
participantAttrs.rtps.builtin.writerHistoryMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;

[mikaelarguedas]

@MiguelCompany friendly 🛎️ , any update on this ?

[richiware]

We applied your suggestion on commit bf1715d. Thanks. ↪ 2018-07-19 jue 20:11, Mikael Arguedas <notifications@github.com>:

…

@MiguelCompany friendly 🛎️ , any update on this ? -- You are receiving this because you are subscribed to this thread. Reply to this email directly or view it on GitHub: #213 (comment)

[mikaelarguedas]

Thanks @richiware!

We implemented the change on our side as well, feel free to close this issue 👍 (I cannot close it myself as I'm not the original poster)

[Aposhian]

I'm getting this issue with the Nav2 lifecycle manger on ROS2 Humble:

[RTPS_READER_HISTORY Error] Change payload size of '24' bytes is larger than the history payload size of '11' bytes and cannot be resized. -> Function can_change_be_added_nts

This is with the default FastDDS config for ROS2, which should include PREALLOCATED_WITH_REALLOC, but then DYNAMIC for services? This error message doesn't give a GUID, so I'm having trouble narrowing it down further, but I'm guessing this is coming form a service.