Define RMW_QOS_DEADLINE_BEST_AVAILABLE

• Defined in File types.h

Define Documentation

RMW_QOS_DEADLINE_BEST_AVAILABLE

Will match the majority of endpoints while maintaining as strict a policy as possible.

Value is RMW_DURATION_INFINITE - 1.

A policy will be chosen at the time of creating a subscription or publisher. For a subscription, the deadline will be the maximum value of all discovered publisher deadlines. For a publisher, the deadline will be the minimum value of all discovered subscription deadlines.

The QoS policy reported by functions like rmw_subscription_get_actual_qos or rmw_publisher_get_actual_qos may be best available or the actual deadline value.

Services and clients are not supported and default to the deadline value in rmw_qos_profile_services_default.

The middleware is not expected to update the policy after creating a subscription or publisher, even if the chosen policy is incompatible with newly discovered endpoints. Therefore, this policy should be used with care since non-deterministic behavior can occur due to races with discovery.