JetJie

> Ok, I know that, but it is a python example. I need a cpp offboard node to use my previous cpp-based project.

@laylow13 Could you share me the whole code? Obviously, you add qos snippet in the cpp example. Thanks in advance.

> The current version of the repository does not contain the compile options and source code of micrortps_agent and cannot compile micrortps_agent. yes, in the latest version, they have removed...

> the problem is that my previous offboard node is in cpp(microRTPS version). But now it cannot run on the current micro XRCE-DDS version. So I need a cpp offboard...

@Ecuashungo Thanks for sharing in advance and I am looking forward to your CPP example. If there is no progress here. I would like to back v1.13.1 with the rtps...