dds_tsn_profile_connext.xml

<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/6.0.1/rti_dds_qos_profiles.xsd" version="6.0.1">
  <qos_library name="test">
    <qos_profile name="UDPv4_properties" is_default_qos="true">
      <participant_qos>
        <property>
          <value>
            <element>
              <name>dds.transport.UDPv4.builtin.parent.allow_interfaces_list</name>
              <value>192.168.30.*</value>
            </element>
            <element>
              <name>dds.transport.UDPv4.builtin.parent.deny_interfaces_list</name>
              <value>10.10.1.*,192.168.0*,192.168.1.*</value>
            </element>
            <element>
              <name>dds.transport.UDPv6.builtin.parent.deny_interfaces_list</name>
              <value>*:*:*:*:*:*:*:*</value>
            </element>
            <!-- 8 bit mask of the IP DS field bits to set via transport_priority in DRs and DWs (all) -->
            <element>
              <name>dds.transport.UDPv4.builtin.transport_priority_mask</name>
              <value>0x00000FF</value>
            </element>
          </value>
        </property>
      </participant_qos>
      <!-- we can set the TRANSPORT_PRIORITY for the topic -->
      <datawriter_qos topic_filter="rt/cmd_vel">
        <transport_priority>
          <!-- DSCP=5 (CS1), ECN=0, applies to sample data -->
          <value>20</value>
        </transport_priority>
        <!-- QoS for synchronous publishing -->
        <publish_mode>
          <kind>SYNCHRONOUS_PUBLISH_MODE_QOS</kind>
        </publish_mode>
        <batch>
          <enable>0</enable>
        </batch>
      </datawriter_qos>
      <datareader_qos topic_filter="rt/cmd_vel">
        <transport_priority>
          <!-- DSCP=5 (CS1), ECN=0, applies to sample data -->
          <value>20</value>
        </transport_priority>
      </datareader_qos>
    </qos_profile>
  </qos_library>
</dds>