ENTITY_FACTORY
Controls whether newly created DDS entities automatically start participating in discovery.
What it controls
Whether child entities created under a DomainParticipant are immediately enabled for discovery, or require an explicit enable() call before they can participate.
- TRUE: Newly created child entities are immediately enabled and begin participating in discovery.
- FALSE: The application must explicitly call enable() before the entity can participate in discovery.
Key settings
| Field | Default | Mutability |
|---|---|---|
autoenable_created_entities |
TRUE | Can be changed at runtime |
Compatibility role
Discovery timing — sets when entities begin PDP/EDP participation. Does not participate in Writer–Reader RxO matching.
When this conflicts
Entity Factory takes part in the following QoS Guard rules. Each links to a full explanation with an example and a fix.
Related policies
Example
The ENTFAC QoS can be used to conserve resources and allow multiple robots to initiate discovery simultaneously under synchronized conditions. For instance, the Publishers and Subscribers of a navigation module may be activated only after completing local sensor calibration or localization. By setting autoenable created entities=false, the system delays communication until the robot is ready by explicitly calling enable() at the appropriate time.