OpenDDS：内联Qos。与RTI（MicroDDS）的互操作性

Question

我正在尝试将OpenDDS节点与MicroDDS RTI节点连接。远程节点（MicroDDS）在其DATA（p）消息中发送内联QoS。如何在我的OpenDDS节点中包括内联QoS配置？我的RTPS配置是：

TransportConfig_rch config = TransportRegistry::instance()->create_config("rtps_interop");

TransportInst_rch inst = TransportRegistry::instance()->create_inst("the_rtps_transport", "rtps_udp");
RtpsUdpInst_rch rui = static_rchandle_cast<RtpsUdpInst>(inst);
rui->handshake_timeout_ = 1;

config->instances_.push_back(inst);
TransportRegistry::instance()->global_config(config);

bool multicast = true;
unsigned int resend = 1;
std::string partition, governance, permissions;
int defaultSize = 0;
RtpsDiscovery_rch disc = make_rch<RtpsDiscovery>("RtpsDiscovery");

disc->resend_period(ACE_Time_Value(resend));
disc->sedp_multicast(multicast);
TheServiceParticipant->add_discovery(static_rchandle_cast<Discovery>(disc));
TheServiceParticipant->set_repo_domain(DomainID, disc->key());

远程DATA（p）MicroDDS消息附加在DATA（p）RTPS消息图像中。

我希望有人可以帮助我:-)

预先感谢和问候