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Design guide: common patterns in ROS 2
Fast RTPS large data transfer
You want to transfer large data via Fast RTPS.
DDS/RTPS uses UDP with a maximum message size of 64k
Configure the middleware so that it fragments large data into messages
Use Asynchronous publication mode:
<publishMode> <kind>ASYNCHRONOUS</kind> </publishMode>
Fast RTPS Best Effort Video Streaming
You want to transfer video streams and provide up-to-date data. It is OK to lose some of the images.
Acknowledged data transmission mechanisms (also known as “reliable” delivery) ensure every packet is delivered, which can cause the video stream to fall behind.
Use “best effort” communication (instead of the usual acknowledgement based mechanism) and prioritize the last frame.
Configure “best effort” reliability mechanism
Configure Quality of service history to keep last frame
<reliability> <kind>BEST_EFFORT</kind> </reliability> <historyQos> <kind>KEEP_LAST</kind> <depth>1</depth> </historyQos>
Fast RTPS Reliable Video Streaming
You want to transfer video streams in unreliable network settings.
Use a reliable communication mechanism. Use fast response by writer and reader.
Configure “reliable” reliability mechanism
Configure NACK response delay and suppression duration of writer to 0
Configure heartbeat response delay of reader to 0
<reliability> <kind>RELIABLE</kind> </reliability> # writer <times> <nackResponseDelay> <durationbyname>ZERO</durationbyname> </nackResponseDelay> <nackSupressionDuration> <durationbyname>ZERO</durationbyname> </nackSupressionDuration> </times> # reader <times> <heartbeatResponseDelay> <durationbyname>ZERO</durationbyname> </heartbeatResponseDelay> </times>