Tomoya Fujita

probably you can try with `ros2 node list --no-daemon` see if there is any difference? if the ros2 daemon is starting up aligned with the other nodes by systemd service,...

> What's more,I public message to a node,but I can't subcribe the message.What the command I used is ' ros2 topic pub /chatter std_msgs/msg/String "data: 'hello world'" ' and '...

> I found that the --ros-domain-id is 0 in this process while ros2 nodes startup environment is in ROS_DOMAIN_ID=16. > I modify this process ros-domain-id as 16 and this can...

@TadaKazuto can you provide [Short, Self Contained, Correct (Compilable), Example](http://www.sscce.org/) for the issue?

Just out of curiosity, > recording IMU topic at 200MHz is this really 200 MHz data rate supported with physical sensor? it is almost processor frequency like Cortex-M???

@theksg as far as I know, this is designed behavior. there is `ResourceLimitsQosPolicy`(https://fast-dds.docs.eprosima.com/en/v3.0.0/fastdds/api_reference/dds_pim/core/policy/resourcelimitsqospolicy.html) defined in [DDS specification](https://www.omg.org/spec/DDS/1.4/PDF) that determines the limits. > int32_t max_samples > Value less or equal to...

> if the resource exhaustion happens, that will lead to crashing of node. Is that the expected behavior? i am not quite following this, can you rephrase the question a...

i guess that should be detected at the configuration if you are using POD data before runtime, because it tries to configure the buffer with the size which is much...

@VictorLamoine could you add QoS improvement in this PR?

https://github.com/ros2/ros2cli/pull/935 is adding the QoS argument for `ros2 topic hz`.