Tomoya Fujita

related to https://github.com/ros2/ros2cli/pull/812

technically, with rmw_fastrtps history depth is unknown, we can see this using `ros2 topic info -v`. rmw_fastrtps does not store the history depth from discovery information, that leads to `unknown`...

Not directly related but https://github.com/ros2/rclcpp/pull/2406#issuecomment-1924589468 is worth to take a look.

IMO this is good feature so that user can reconnect the topic to the different resource at runtime.

@fmrico thanks for sharing idea. > In this function, to avoid changes in rmw, we could replace the current one by one with the remapped name just checking, so once...

@jrutgeer > I proposed as a solution to install a post_set_parameter_callback that resets the current subscriber and creates a new one for the changed topic name. it should work but...

> after setting up the Cyclone DDS and changing the buffer params I was able to get every data with almost 0 latency and dropping without running the rosbag record....

CI: * Linux [](http://ci.ros2.org/job/ci_linux/20680/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/15001/) * Windows [](http://ci.ros2.org/job/ci_windows/21376/)

@clalancette can we merge this to humble?

@doisyg i am not sure which commit actually fixes your problem here. but for releasing new packages would take some time. CC: @Yadunund