A dependency chain of 16 DDS QoS policies is formalized into 41 violation rules and implemented as QoS Guard, an offline XML validator for ROS 2.
OMG Data-Distribution Service: Architectural overview,
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Dependency Chain Analysis of ROS 2 DDS QoS Policies: From Lifecycle Tutorial to Static Verification
A dependency chain of 16 DDS QoS policies is formalized into 41 violation rules and implemented as QoS Guard, an offline XML validator for ROS 2.