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Expand Down Expand Up @@ -1205,9 +1205,10 @@ <h2 id="overrides">Overrides</h2>
</span><span id="__span-1-4"><a id="__codelineno-1-4" name="__codelineno-1-4" href="#__codelineno-1-4"></a><span class="w"> </span><span class="nt">fully_resolved_topic_name</span><span class="p">:</span>
</span><span id="__span-1-5"><a id="__codelineno-1-5" name="__codelineno-1-5" href="#__codelineno-1-5"></a><span class="w"> </span><span class="nt">publisher</span><span class="p">:</span>
</span><span id="__span-1-6"><a id="__codelineno-1-6" name="__codelineno-1-6" href="#__codelineno-1-6"></a><span class="w"> </span><span class="nt">reliability</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">reliable</span>
</span><span id="__span-1-7"><a id="__codelineno-1-7" name="__codelineno-1-7" href="#__codelineno-1-7"></a><span class="w"> </span><span class="nt">history_depth</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">100</span>
</span><span id="__span-1-7"><a id="__codelineno-1-7" name="__codelineno-1-7" href="#__codelineno-1-7"></a><span class="w"> </span><span class="nt">depth</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">100</span>
</span><span id="__span-1-8"><a id="__codelineno-1-8" name="__codelineno-1-8" href="#__codelineno-1-8"></a><span class="w"> </span><span class="nt">history</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">keep_last</span>
</span></code></pre></div>
<p>NOTE: while some documentation uses <code>history_depth</code>, the actual parameter needs to just be <code>depth</code> in order to work.</p>
<p>The same workflow works for subscribers, you just use <code>rclcpp::SubscriptionOptions</code> instance and change <code>publisher</code> to <code>subscription</code> in the YAML file.</p>
<h2 id="magic-numbers">Magic Numbers</h2>
<p>If you perform <code>ros2 topic info -v /some/topic</code> and you examine the QoS settings, you may note that several fields are set to the magic number 2147483651294967295 (or 2,147,483,651,294,967,295). e.g. </p>
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