ardupilot/libraries/AP_DDS/dds_xrce_profile.xml

<?xml version="1.0"?>
<profiles>
  <participant profile_name="participant_profile">
    <rtps>
      <name>ardupilot_dds</name>
    </rtps>
  </participant>
  <topic profile_name="time__t">
    <name>rt/ap/time</name>
    <dataType>builtin_interfaces::msg::dds_::Time_</dataType>
    <historyQos>
      <kind>KEEP_LAST</kind>
      <depth>20</depth>
    </historyQos>
  </topic>
  <data_writer profile_name="time__dw">
    <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
    <qos>
      <reliability>
        <kind>RELIABLE</kind>
      </reliability>
    </qos>
    <topic>
      <kind>NO_KEY</kind>
      <name>rt/ap/time</name>
      <dataType>builtin_interfaces::msg::dds_::Time_</dataType>
      <historyQos>
        <kind>KEEP_LAST</kind>
        <depth>20</depth>
      </historyQos>
    </topic>
  </data_writer>
  <topic profile_name="navsatfix0__t">
    <name>rt/ap/navsat/navsat0</name>
    <dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
    <historyQos>
      <kind>KEEP_LAST</kind>
      <depth>5</depth>
    </historyQos>
  </topic>
  <data_writer profile_name="navsatfix0__dw">
    <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
    <qos>
      <reliability>
        <kind>BEST_EFFORT</kind>
      </reliability>
      <durability>
        <kind>VOLATILE</kind>
      </durability>
    </qos>
    <topic>
      <kind>NO_KEY</kind>
      <name>rt/ap/navsat/navsat0</name>
      <dataType>sensor_msgs::msg::dds_::NavSatFix_</dataType>
      <historyQos>
        <kind>KEEP_LAST</kind>
        <depth>5</depth>
      </historyQos>
    </topic>
  </data_writer>
  <topic profile_name="statictransforms__t">
    <name>rt/ap/tf_static</name>
    <dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
    <historyQos>
      <kind>KEEP_LAST</kind>
      <depth>1</depth>
    </historyQos>
  </topic>
  <data_writer profile_name="statictransforms__dw">
    <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
    <qos>
      <reliability>
        <kind>RELIABLE</kind>
      </reliability>
      <durability>
        <kind>TRANSIENT_LOCAL</kind>
      </durability>
    </qos>
    <topic>
      <kind>NO_KEY</kind>
      <name>rt/ap/tf_static</name>
      <dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
      <historyQos>
        <kind>KEEP_LAST</kind>
        <depth>1</depth>
      </historyQos>
    </topic>
  </data_writer>
  <topic profile_name="batterystate0__t">
    <name>rt/ap/battery/battery0</name>
    <dataType>sensor_msgs::msg::dds_::BatteryState_</dataType>
    <historyQos>
      <kind>KEEP_LAST</kind>
      <depth>5</depth>
    </historyQos>
  </topic>
  <data_writer profile_name="batterystate0__dw">
    <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
    <qos>
      <reliability>
        <kind>BEST_EFFORT</kind>
      </reliability>
      <durability>
        <kind>VOLATILE</kind>
      </durability>
    </qos>
    <topic>
      <kind>NO_KEY</kind>
      <name>rt/ap/battery/battery0</name>
      <dataType>sensor_msgs::msg::dds_::BatteryState_</dataType>
      <historyQos>
        <kind>KEEP_LAST</kind>
        <depth>5</depth>
      </historyQos>
    </topic>
  </data_writer>
  <topic profile_name="localpose__t">
    <name>rt/ap/pose/filtered</name>
    <dataType>geometry_msgs::msg::dds_::PoseStamped_</dataType>
    <historyQos>
      <kind>KEEP_LAST</kind>
      <depth>5</depth>
    </historyQos>
  </topic>
  <data_writer profile_name="localpose__dw">
    <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
    <qos>
      <reliability>
        <kind>BEST_EFFORT</kind>
      </reliability>
      <durability>
        <kind>VOLATILE</kind>
      </durability>
    </qos>
    <topic>
      <kind>NO_KEY</kind>
      <name>rt/ap/pose/filtered</name>
      <dataType>geometry_msgs::msg::dds_::PoseStamped_</dataType>
      <historyQos>
        <kind>KEEP_LAST</kind>
        <depth>5</depth>
      </historyQos>
    </topic>
  </data_writer>
  <topic profile_name="localvelocity__t">
    <name>rt/ap/twist/filtered</name>
    <dataType>geometry_msgs::msg::dds_::TwistStamped_</dataType>
    <historyQos>
      <kind>KEEP_LAST</kind>
      <depth>5</depth>
    </historyQos>
  </topic>
  <data_writer profile_name="localvelocity__dw">
    <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
    <qos>
      <reliability>
        <kind>BEST_EFFORT</kind>
      </reliability>
      <durability>
        <kind>VOLATILE</kind>
      </durability>
    </qos>
    <topic>
      <kind>NO_KEY</kind>
      <name>rt/ap/twist/filtered</name>
      <dataType>geometry_msgs::msg::dds_::TwistStamped_</dataType>
      <historyQos>
        <kind>KEEP_LAST</kind>
        <depth>5</depth>
      </historyQos>
    </topic>
  </data_writer>
  <topic profile_name="geopose__t">
    <name>rt/ap/geopose/filtered</name>
    <dataType>geographic_msgs::msg::dds_::GeoPoseStamped_</dataType>
    <historyQos>
      <kind>KEEP_LAST</kind>
      <depth>5</depth>
    </historyQos>
  </topic>
  <data_writer profile_name="geopose__dw">
    <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
    <qos>
      <reliability>
        <kind>BEST_EFFORT</kind>
      </reliability>
      <durability>
        <kind>VOLATILE</kind>
      </durability>
    </qos>
    <topic>
      <kind>NO_KEY</kind>
      <name>rt/ap/geopose/filtered</name>
      <dataType>geographic_msgs::msg::dds_::GeoPoseStamped_</dataType>
      <historyQos>
        <kind>KEEP_LAST</kind>
        <depth>5</depth>
      </historyQos>
    </topic>
  </data_writer>
  <topic profile_name="clock__t">
    <name>rt/ap/clock</name>
    <dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
    <historyQos>
      <kind>KEEP_LAST</kind>
      <depth>20</depth>
    </historyQos>
  </topic>
  <data_writer profile_name="clock__dw">
    <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
    <qos>
      <reliability>
        <kind>RELIABLE</kind>
      </reliability>
    </qos>
    <topic>
      <kind>NO_KEY</kind>
      <name>rt/ap/clock</name>
      <dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
      <historyQos>
        <kind>KEEP_LAST</kind>
        <depth>20</depth>
      </historyQos>
    </topic>
  </data_writer>
  <topic profile_name="joy__t">
    <name>rt/ap/joy</name>
    <dataType>sensor_msgs::msg::dds_::Joy_</dataType>
    <historyQos>
      <kind>KEEP_LAST</kind>
      <depth>5</depth>
    </historyQos>
  </topic>
  <data_reader profile_name="joy__dr">
    <topic>
      <kind>NO_KEY</kind>
      <name>rt/ap/joy</name>
      <dataType>sensor_msgs::msg::dds_::Joy_</dataType>
    </topic>
  </data_reader>
  <topic profile_name="dynamictf__t">
    <name>rt/ap/tf</name>
    <dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
    <historyQos>
      <kind>KEEP_LAST</kind>
      <depth>5</depth>
    </historyQos>
  </topic>
  <data_reader profile_name="dynamictf__dr">
    <topic>
      <kind>NO_KEY</kind>
      <name>rt/ap/tf</name>
      <dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
    </topic>
  </data_reader>
  <topic profile_name="velocitycontrol__t">
    <name>rt/ap/cmd_vel</name>
    <dataType>geometry_msgs::msg::dds_::TwistStamped_</dataType>
    <historyQos>
      <kind>KEEP_LAST</kind>
      <depth>5</depth>
    </historyQos>
  </topic>
  <data_reader profile_name="velocitycontrol__dr">
    <topic>
      <kind>NO_KEY</kind>
      <name>rt/ap/cmd_vel</name>
      <dataType>geometry_msgs::msg::dds_::TwistStamped_</dataType>
    </topic>
  </data_reader>
  <replier profile_name="arm_motors__replier" service_name="rs/ap/arm_motorsService" request_type="ardupilot_msgs::srv::dds_::ArmMotors_Request_" reply_type="ardupilot_msgs::srv::dds_::ArmMotors_Response_">
    <request_topic_name>rq/ap/arm_motorsRequest</request_topic_name>
    <reply_topic_name>rr/ap/arm_motorsReply</reply_topic_name>
  </replier>
  <replier profile_name="mode_switch__replier" service_name="rs/ap/mode_switchService" request_type="ardupilot_msgs::srv::dds_::ModeSwitch_Request_" reply_type="ardupilot_msgs::srv::dds_::ModeSwitch_Response_">
    <request_topic_name>rq/ap/mode_switchRequest</request_topic_name>
    <reply_topic_name>rr/ap/mode_switchReply</reply_topic_name>
  </replier>
</profiles>