Sorry for the long delay. [quote="EwingKang, post:3, topic:6826"] As far as the QoS configuring goes, I thought we can only consider `max_samples` since ROS2 rwm implementation is currently keyless (ans thus have only one instance) AFAIK. [/quote] For now that is true, but we're currently working on supporting IDL 4.2 directly in ROS 2, at which point you may specify a key and it will influence queuing as separate instances for each key value. [quote="EwingKang, post:3, topic:6826"] I propose we can expose the `resource_limits.max_samples` through RMW as well as provide limited value for any preset that involve `KEEP_ALL` history. And this behavior should also be properly documented so the user knows what theyre doing when adjusting the configuration. [/quote] I agree, we need to expose more QoS to make `KEEP_ALL` more usable. Any help you (or others) could provide on this in the form of pull requests would be appreciated. --- [Visit Topic](https://discourse.ros.org/t/what-should-be-the-correct-behavier-of-a-reliable-transmission-throughput-problem/6826/4) 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: