I'm not intentionally using PREALLOCATED_MEMORY_MODE or any other non-default configuration for FastRTPS. By pub/sub parameters, you mean the QoS? I do customize that in a few places to enable durable data or to reduce the cache to try and keep data fresh. --- [Visit Topic](https://discourse.ros.org/t/payload-size-error-with-fastrtps/2815/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: