How can I configure Security QoS?

[YiJunKo]

How can I configure Security QoS?

• Hardware description: ESP32-S3-EYE
• RTOS: FreeRTOS
• Installation type: micro_ros_setup
• Version or commit hash: foxy

Steps to reproduce the issue

I would like to know how to set up my security QoS on micro-ROS (that is, on the XRCE-DDS client). Since there is currently no manual available, I am unsure how to implement it.

[pablogs9]

Hello @YiJunKo, micro-ROS does not support DDS Security.

[YiJunKo]

Hello @pablogs9 , thanks your answers! I would also like to ask where I can find the list of QoS supported by micro-ROS？

[pablogs9]

You can take a look at the middleware configuration here: https://micro-xrce-dds.docs.eprosima.com/en/latest/

[YiJunKo]

Hi @pablogs9 , I have referred to the following: https://micro.ros.org/docs/tutorials/advanced/microxrcedds_rmw_configuration/ and also looked at the colcon.meta of this project. If I am developing and flashing using this project, are the only available QoS options as follows? "rmw_microxrcedds": { "cmake-args": [ "-DRMW_UXRCE_XML_BUFFER_LENGTH=400", "-DRMW_UXRCE_TRANSPORT=udp", "-DRMW_UXRCE_MAX_NODES=1", "-DRMW_UXRCE_MAX_PUBLISHERS=2", "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=2", "-DRMW_UXRCE_MAX_SERVICES=1", "-DRMW_UXRCE_MAX_CLIENTS=1", "-DRMW_UXRCE_MAX_HISTORY=1" ] },

[pablogs9]

Those are not QoS, those are middleware configuration parameters, please take a look at micro-ROS documentation: https://docs.vulcanexus.org/en/latest/rst/tutorials/micro/memory_management/memory_management.html