(this is more a Q&A than an actual issue, but Discussions are not enabled, so my apologies for posting it as an issue)

Would you happen to know, off the top of your head, what the maximum size would be for an action goal to still make it to a Client, via an Agent? I'm specifically referring to an action goal here, but as that's transmitted via services, that'd also be OK I believe.

This is related to #217 and #247, as while we've been able to get everything to work with your advice, we're trying to determine the limits to various things, and notice action goals for which the Micro-ROS Agent prints [==>> DDS <<==] [...] len: 67776 [...] don't make it to the Client (a FollowJointTrajectory action goal in this specific case).

There is no warning or error printed AFAICT, the messages just seem to vanish. No traffic to the Client either (Wireshark).

Before diving into the various packages, I thought I'd ask, as you may already be able to point us in a certain direction.

Context: UDPv4 Client, UCLIENT_TWEAK_XRCE_WRITE_LIMIT=OFF, UCLIENT_UDP_TRANSPORT_MTU=2048, RMW_UXRCE_MAX_HISTORY=4 and RMW_UXRCE_STREAM_HISTORY=32.

thanks

Edit: the Client application should have been given ample space to receive the goal (by configuring a micro_ros_utilities_memory_conf_t with values for size higher than the goal being sent uses/needs).