Files
ros2bookcode/chapt10/chapt10_ws/topic_sub_limit.xml
2024-01-28 21:03:42 +08:00

23 lines
845 B
XML

<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<!-- 默认发布者配置 -->
<publisher profile_name="default_publisher" is_default_profile="true">
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</publisher>
<!-- 默认订阅者配置 -->
<subscriber profile_name="default_subscriber" is_default_profile="true">
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</subscriber>
<!-- 话题 chatter 的发布者配置 -->
<publisher profile_name="/chatter">
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
<matchedSubscribersAllocation>
<initial>0</initial>
<maximum>1</maximum>
<increment>1</increment>
</matchedSubscribersAllocation>
</publisher>
</profiles>