Define RMW_QOS_LIVELINESS_LEASE_DURATION_BEST_AVAILABLE
Defined in File types.h
Define Documentation
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RMW_QOS_LIVELINESS_LEASE_DURATION_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 lease duration will be the maximum value of all discovered publisher lease durations. For a publisher, the lease duration will be the minimum value of all discovered subscription lease durations.
The QoS policy reported by functions like
rmw_subscription_get_actual_qos
orrmw_publisher_get_actual_qos
may be best available or the actual lease duration value.Services and clients are not supported and default to the lease duration 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.