Middleware profiles Sample Clauses

Middleware profiles. Apart from micro-ROS profiles, DDS-XRCE standard defines a set of profiles modularising the mid- dleware capabilities. In the micro-ROS platform, these profiles are also configurable per middleware implementation. • Read Access profile. Provides the clients with the ability to read data on pre-configured Topics with pre-configured QoS policies. • Write Access profile. Provides the clients with the ability to write data on pre-configured Topics with pre-configured QoS policies. • Configure Entities profile. Provides the clients the ability define DomainParticipant, Topic, Publisher, Subscriber, DataWriter, and DataReader entities using pre-configured QoS policies and data-types. • Configure QoS profile. Provides client with the ability to define QoS profiles to be used by DDS entities. • Configure types profile. Includes middleware client the ability to set data types to be used for DDS topics. • Discovery access profile. Provides the middleware clients to discover entities. • File-based configuration profile. micro-ROS Agent core could be configured using a file system. • UDP Transport profile. It provides UDP transport. • TCP Transport profile. It provides TCP transport. • Complete profile. It allows the complete functionality of the middleware. Micro-ROS profiles require some of the specific middleware profiles. This profile dependencies are resolved automatically at build time selecting those middleware profiles required by micro-ROS profiles. This table represents dependencies between micro-ROS components and Micro RTPS profiles. micro- ROS/Micro read write configureconfigureconfigure file RTPS nodes access access entities QoS types discoveryconfiguration udp tcp complete lifecycle x x publish x subscribe x services x x timers clock logging parameters x x executor discovery x
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