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commented
2 years ago Static memory analysis
Default configuration
MTU: 512 B Input buffer size: 2048 B Input history: 4 Output buffer size: 2048 B Output history: 4
| Entity | Qty | Size per unit |
|---|---|---|
| Context | 2 | 5616 B |
| Topic | 8 | 56 B |
| Service | 4 | 248 B |
| Client | 4 | 248 B |
| Subscription | 4 | 272 B |
| Publisher | 4 | 288 B |
| Node | 4 | 208 B |
| Static input buffer | 8 | 2136 B |
| Init options | 6 | 64 B |
| Wait sets | 4 | 56 B |
| Guard Condition | 4 | 64 B |
| Ent. Init. Opt | 8 | 40 B |
TOTAL: 34632 B
This PR allows the advance configuration of used XRCE-DDS Streams in the micro-ROS entities (pub/sub). By using this, along with the proper XRCE-DDS Client configuration, priorities in data streams can be controlled.
Client & Service are not implemented due to the lack of options at RMW interface layer.
Depends on: https://github.com/eProsima/Micro-XRCE-DDS-Client/pull/285
TODO: