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<?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="http://www.omg.org/dds dds_qos.xsd">
<qos_profile name="ReceiverProfile">
<datareader_qos>
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
</reliability>
<liveliness>
<kind>MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
</liveliness>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>20</depth>
</history>
<durability>
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
</durability>
</datareader_qos>
</qos_profile>
<qos_profile name="SenderProfile">
<datawriter_qos>
<reliability>
<kind>BEST_EFFORT_RELIABILITY_QOS</kind>
<max_blocking_time>
<sec>2</sec>
<nanosec>0</nanosec>
</max_blocking_time>
</reliability>
<durability>
<kind>TRANSIENT_DURABILITY_QOS</kind>
</durability>
<liveliness>
<kind>MANUAL_BY_TOPIC_LIVELINESS_QOS</kind>
</liveliness>
<history>
<kind>KEEP_LAST_HISTORY_QOS</kind>
<depth>20</depth>
</history>
</datawriter_qos>
</qos_profile>
</dds>
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