rti-genesis/USER_QOS_PROFILES.xml at main · rticommunity/rti-genesis · GitHub

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<?xml version="1.0"?>
<!--
  ####################################################################################
  (c) 2025 Copyright, Real-Time Innovations, Inc. (RTI) All rights reserved.

  RTI grants Licensee a license to use, modify, compile, and create derivative
  works of the Software. Licensee has the right to distribute object form only
  for use with RTI products. The Software is provided "as is", with no warranty
  of any type, including any warranty for fitness for any purpose. RTI is under no
  obligation to maintain or support the Software. RTI shall not be liable for any
  incidental or consequential damages arising out of the use or inability to use
  the software.
  ####################################################################################
-->
<!--
  Genesis DDS QoS Configuration

  This configuration addresses macOS participant index exhaustion by:
  1. Using explicit UDP4 discovery peers with expanded port range
  2. Allowing DDS to auto-assign participant IDs
  3. Increasing resource limits for local participants
-->
<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
     xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/7.3.0/rti_dds_qos_profiles.xsd">

    <qos_library name="GenesisQosLibrary">

        <qos_profile name="GenesisDefaultProfile" is_default_qos="true">

            <domain_participant_qos>
                <!-- Use only UDP4 transport -->
                <transport_builtin>
                    <mask>UDPv4</mask>
                </transport_builtin>

                <discovery>
                    <!-- Explicit UDP4 peers with expanded port range for more participants -->
                    <initial_peers>
                        <element>builtin.udpv4://localhost</element>
                        <element>builtin.udpv4://127.0.0.1</element>
                        <element>builtin.udpv4://127.0.0.1:7400-7499</element>
                    </initial_peers>

                    <!-- Accept unknown peers for dynamic discovery -->
                    <accept_unknown_peers>true</accept_unknown_peers>
                </discovery>

                <!-- Let DDS auto-assign participant IDs -->
                <wire_protocol>
                    <participant_id>-1</participant_id>
                    <rtps_host_id>RTPS_AUTO_ID</rtps_host_id>
                    <rtps_app_id>RTPS_AUTO_ID</rtps_app_id>
                </wire_protocol>

                <!-- Increase resource limits for many participants -->
                <resource_limits>
                    <local_writer_allocation>
                        <max_count>256</max_count>
                    </local_writer_allocation>
                    <local_reader_allocation>
                        <max_count>256</max_count>
                    </local_reader_allocation>
                    <local_publisher_allocation>
                        <max_count>128</max_count>
                    </local_publisher_allocation>
                    <local_subscriber_allocation>
                        <max_count>128</max_count>
                    </local_subscriber_allocation>
                    <local_topic_allocation>
                        <max_count>128</max_count>
                    </local_topic_allocation>
                </resource_limits>
            </domain_participant_qos>

        </qos_profile>

    </qos_library>
</dds>