diff --git a/docs/fastdds/env_vars/env_vars.rst b/docs/fastdds/env_vars/env_vars.rst index a9f2775e7..b99153f5b 100644 --- a/docs/fastdds/env_vars/env_vars.rst +++ b/docs/fastdds/env_vars/env_vars.rst @@ -287,6 +287,14 @@ The transports configured in this new mode include :ref:`UDP` A detailed tutorial can be found in the `Vucanexus Easy Mode Tutorial `__ documentation. +.. note:: + When ``ROS2_EASY_MODE`` is enabled, Fast DDS automatically loads a custom XML profile named ``service``. + This profile increases the server's response timeout for ROS 2 services by modifying the + |ReliabilityQosPolicy::max_blocking_time-api|. + However, if the user provides an XML file that already contains a profile with the same name, Fast DDS will not + load any extra profile. + Instead, the |ReliabilityQosPolicy::max_blocking_time-api| value defined in the user's XML file will be used. + .. warning:: Discovery Server ``ROS2_EASY_MODE`` is not yet available for Windows platforms.