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Reduce the shutdown_cleanup_period. #473

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clalancette merged 1 commit into from
Nov 16, 2020
Merged

Reduce the shutdown_cleanup_period. #473

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6 changes: 6 additions & 0 deletions rmw_connext_shared_cpp/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -305,6 +305,12 @@ create_node(
}
}

// In order to reduce the time to cleanup a participant (Node), we use the advice from
// https://community.rti.com/static/documentation/connext-dds/5.3.1/doc/api/connext_dds/api_cpp/structDDS__DomainParticipantQos.html
// and reduce the shutdown_cleanup_period to 50 milliseconds.
participant_qos.database.shutdown_cleanup_period.sec = 0;
participant_qos.database.shutdown_cleanup_period.nanosec = 50000000;

{
participant = dpf_->create_participant(
static_cast<DDS::DomainId_t>(context->actual_domain_id),
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