[Discourse.ros.org] [Next Generation ROS] Payload size error with FastRTPS

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[Discourse.ros.org] [Next Generation ROS] Payload size error with FastRTPS

Charles Fox via ros-users


What causes this error below? I see a lot of it (using a beta3 build from a week ago).

`[RTPS_HISTORY Error] Change payload size of '5852' bytes is larger than the history payload size of '5000' bytes and cannot be resized. -> Function add_change`





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[Discourse.ros.org] [Next Generation ROS] Payload size error with FastRTPS

Charles Fox via ros-users


It's coming from FastRTPS underneath; from perusing their code it looks to only be output if you're using `PREALLOCATED_MEMORY_MODE` for the memory policy (e.g. [here](https://github.com/eProsima/Fast-RTPS/blob/f16b8f365c44aa76066b35004e84e9a352949d8c/src/cpp/rtps/history/WriterHistory.cpp#L61)).

In `rmw_fastrtps_cpp`, the memory policy is explicitly set to `PREALLOCATED_WITH_REALLOC_MEMORY_MODE` (e.g. [here](https://github.com/ros2/rmw_fastrtps/blob/a6ac02905c55118fb1da636f85c8197dde8ef58e/rmw_fastrtps_cpp/src/rmw_publisher.cpp#L99)). Are you customising the publisher/subscriber parameters yourself somehow? If so you'll have to tweak some additional properties of the history cache.





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