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.
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