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  • offset_nanoseconds: Set the offset of the communication w.r.t. ~1970 (real time) or 0 (simulated time); should usually not be changed


The communication between Middleware and HLC takes place locally and should not be shared with the other participants in the network. Thus, this DDS QoS file makes sure that messages via both of them are only exchanged locally and that other participants do not get discovered for that. .template is used as the current IP must be used for this to work, build.bash fills in the template and creates the .xml file in the build folder. This file is also relevant for the HLC scripts, which need to use the same QoS settings to communicate with the Middleware.

How Do I Use The Middleware?