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Real-time Publish-Subscribe (RTPS) Wire Protocol defines a set of requirements for a wire protocol suitable for the Data Distribution Service (DDS). Primary considerations in the design of the RTPS wire protocol are: performance, configurability (tuning quality-of-service), fault-tolerance (no single points of failure), extensibility (support new transports), plug-and-play connectivity (automatic discovery), modularity, scalability, and type safety.

Source: Real-time Publish-Subscribe (RTPS)