[24150] Add send rate limiter configuration for PDPServer

docs/fastdds/discovery/discovery_server.rst

@@ -207,6 +207,24 @@ The default value for this period is 450 ms, but it can be configured to a diffe
         :lines: 2-3,5-16
         :append: </profiles>
 
+.. _DS_send_period:
+
+Fine tuning the server send rate limiter |Pro|
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+The ``fastdds.discovery_server.send_period`` property controls the minimum interval (in
+milliseconds) between consecutive flushes of accumulated discovery changes to the writer
+histories. When set to a positive integer value (e.g. ``"1000"`` for one second), the server
+still processes incoming data on every routine iteration (triggered by ``<clientAnnouncementPeriod>``),
+but defers the send step until at least that many milliseconds have elapsed since the last flush.
+All changes that accumulate in that window are sent together in one batch.
+
+This is useful in large-scale scenarios where many participants join simultaneously: without
+rate limiting, the server sends partial discovery data before all endpoints of a participant
+have been received, requiring redundant retransmissions once the remaining data arrives.
+A longer send period lets changes accumulate so that sends contain more complete information,
+reducing overall traffic.
+
 .. _DS_guidPrefix:
 
 The GuidPrefix as an optional server unique identifier

docs/fastdds/xml_configuration/domainparticipant.rst

@@ -418,6 +418,8 @@ configurable settings.
 | ``<clientAnnouncementPeriod>``  | The period for the DomainParticipant to        | :ref:`DurationType` | 450 ms      |
 |                                 | send its Discovery Message to its servers      |                     |             |
 |                                 | and check for EDP endpoints matching.          |                     |             |
+|                                 | |Pro| adds a property for true send rate       |                     |             |
+|                                 | limiting (see :ref:`DS_send_period`).          |                     |             |
 +---------------------------------+------------------------------------------------+---------------------+-------------+
 | ``<static_edp_xml_config>``     | The XML filename(s) with the static EDP        | ``List <string>``   |             |
 |                                 | configuration. Only necessary if               |                     |             |