<?xml version="1.0" encoding="UTF-8"?>
<dds xmlns="http://www.omg.org/dds/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="file:DDS_QoSProfile.xsd">
<qos_profile name="DDS ROSQosProfile">
     <datareader_qos>
          <durability>
              <kind>VOLATILE_DURABILITY_QOS</kind>
          </durability>
          <deadline>
               <period>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </period>
          </deadline>
          <latency_budget>
               <duration>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
               </duration>
          </latency_budget>
          <liveliness>
               <kind>AUTOMATIC_LIVELINESS_QOS</kind>
               <lease_duration>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </lease_duration>
          </liveliness>
          <reliability>
               <kind>BEST_EFFORT_RELIABILITY_QOS</kind>
               <max_blocking_time>
                    <sec>0</sec>
                    <nanosec>100000000</nanosec>
               </max_blocking_time>
          </reliability>
          <destination_order>
                <kind>BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS</kind>
          </destination_order>
          <history>
               <kind>KEEP_LAST_HISTORY_QOS</kind>
               <depth>1</depth>
          </history>
          <resource_limits>
               <max_samples>LENGTH_UNLIMITED</max_samples>
               <max_instances>LENGTH_UNLIMITED</max_instances>
               <max_samples_per_instance>LENGTH_UNLIMITED</max_samples_per_instance>
          </resource_limits>
          <user_data>
               <value></value>
          </user_data>
          <ownership>
               <kind>SHARED_OWNERSHIP_QOS</kind>
          </ownership>
          <time_based_filter>
               <minimum_separation>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
               </minimum_separation>
          </time_based_filter>
          <reader_data_lifecycle>
               <autopurge_nowriter_samples_delay>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </autopurge_nowriter_samples_delay>
               <autopurge_disposed_samples_delay>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </autopurge_disposed_samples_delay>
          </reader_data_lifecycle>
     </datareader_qos>
     <datawriter_qos>
          <durability>
               <kind>VOLATILE_DURABILITY_QOS</kind>
          </durability>         
          <deadline>
               <period>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </period>
          </deadline>
          <latency_budget>
               <duration>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
               </duration>
          </latency_budget>
          <liveliness>
               <kind>AUTOMATIC_LIVELINESS_QOS</kind>
               <lease_duration>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </lease_duration>
          </liveliness>
          <reliability>
               <kind>RELIABLE_RELIABILITY_QOS</kind>
               <max_blocking_time>
                    <sec>0</sec>
                    <nanosec>100000000</nanosec>
               </max_blocking_time>
         </reliability>
         <destination_order>
              <kind>BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS</kind>
          </destination_order>
          <history>
               <kind>KEEP_LAST_HISTORY_QOS</kind>
               <depth>1</depth>
          </history>
          <resource_limits>
               <max_samples>LENGTH_UNLIMITED</max_samples>
               <max_instances>LENGTH_UNLIMITED</max_instances>
               <max_samples_per_instance>LENGTH_UNLIMITED</max_samples_per_instance>
          </resource_limits>
          <transport_priority>
               <value>0</value>
          </transport_priority>
          <lifespan>
               <duration>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </duration>
          </lifespan>
          <user_data>
               <value></value>
         </user_data>
         <ownership>
              <kind>SHARED_OWNERSHIP_QOS</kind>
          </ownership>
          <ownership_strength>
               <value>0</value>
          </ownership_strength>
          <writer_data_lifecycle>
               <autodispose_unregistered_instances>true</autodispose_unregistered_instances>
          </writer_data_lifecycle>
     </datawriter_qos>
     <domainparticipant_qos>
          <user_data>
               <value></value>
          </user_data>
          <entity_factory>
               <autoenable_created_entities>true</autoenable_created_entities>
          </entity_factory>
     </domainparticipant_qos>
     <subscriber_qos>
          <presentation>
               <access_scope>INSTANCE_PRESENTATION_QOS</access_scope>
               <coherent_access>false</coherent_access>
               <ordered_access>false</ordered_access>
          </presentation>
          <partition>
               <name></name>
          </partition>
          <group_data>
               <value></value>
          </group_data>
          <entity_factory>
               <autoenable_created_entities>true</autoenable_created_entities>
          </entity_factory>
     </subscriber_qos>
     <publisher_qos>
          <presentation>
               <access_scope>INSTANCE_PRESENTATION_QOS</access_scope>
               <coherent_access>false</coherent_access>
               <ordered_access>false</ordered_access>
          </presentation>
          <partition>
               <name></name>
          </partition>
          <group_data>
               <value></value>
          </group_data>
          <entity_factory>
               <autoenable_created_entities>true</autoenable_created_entities>
          </entity_factory>
     </publisher_qos>
     <topic_qos>
          <topic_data>
               <value></value>
          </topic_data>
          <durability>
               <kind>VOLATILE_DURABILITY_QOS</kind>
          </durability>
          <durability_service>
               <service_cleanup_delay>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
               </service_cleanup_delay>
               <history_kind>KEEP_LAST_HISTORY_QOS</history_kind>
               <history_depth>1</history_depth>
               <max_samples>-1</max_samples>
               <max_instances>-1</max_instances>
               <max_samples_per_instance>-1</max_samples_per_instance>
          </durability_service>
          <deadline>
               <period>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </period>
          </deadline>
          <latency_budget>
               <duration>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
               </duration>
          </latency_budget>
          <liveliness>
               <kind>AUTOMATIC_LIVELINESS_QOS</kind>
               <lease_duration>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </lease_duration>
          </liveliness>
          <reliability>
               <kind>RELIABLE_RELIABILITY_QOS</kind>
               <max_blocking_time>
                    <sec>0</sec>
                    <nanosec>100000000</nanosec>
                    </max_blocking_time>
          </reliability>
          <destination_order>
               <kind>BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS</kind>
          </destination_order>
          <history>
               <kind>KEEP_LAST_HISTORY_QOS</kind>
               <depth>1</depth>
          </history>
          <resource_limits>
               <max_samples>LENGTH_UNLIMITED</max_samples>
               <max_instances>LENGTH_UNLIMITED</max_instances>
               <max_samples_per_instance>LENGTH_UNLIMITED</max_samples_per_instance>
          </resource_limits>
          <transport_priority>
               <value>0</value>
          </transport_priority>
          <lifespan>
               <duration>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </duration>
          </lifespan>
          <ownership>
               <kind>SHARED_OWNERSHIP_QOS</kind>
          </ownership>
     </topic_qos>
</qos_profile>
</dds>
