Thank you William! Supporting the ROS community is our highest priority. In the next release we include also a new feature to setup the QoS through XML files. That will also help a lot to the ROS community to fine tune the middleware without recompiling the ROS2 code for specific cases such as low bandwidth, video streaming, etc.
We expect to officially release Fast RTPS 1.5 end of next week, but it is already in our github in an special branch as we finish the latest tests and QA.
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