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Update RPC example to use new features (#698)
* REQREPLY-196: Update RPC example to use new features. - Service discovery - Built-in RPC QoS profile
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‎examples/connext_dds/remote_procedure_call/README.md

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# Example Code: Remote Procedure Call
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:warning: **Note**: The RPC communication pattern is experimental and available
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in the Python and Modern C++ **Connext** APIs.
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## Concept
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Remote Procedure Call (RPC) is a specialization of the Request-Reply
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communication pattern. It simplifies "client" and "service" applications by
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using a service interface with operations that are implemented in the service
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and called from the clients.
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See the [User's Manual](https://community.rti.com/static/documentation/connext-dds/7.2.0/doc/manuals/connext_dds_professional/users_manual/users_manual/RPC.htm)
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See the [User's Manual](https://community.rti.com/static/documentation/connext-dds/7.4.0/doc/manuals/connext_dds_professional/users_manual/users_manual/RPC.htm)
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for more information.
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## Example Description

‎examples/connext_dds/remote_procedure_call/c++11/Inventory_client.cxx

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// Create a client with the ClientParams
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::InventoryServiceClient client(client_params);
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// Wait until the service is started
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client.wait_for_service();
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// Wait until the service is discovered
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if (!client.wait_for_service(dds::core::Duration(20))) {
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throw std::runtime_error("Service not available");
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}
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std::cout << "Initial inventory: " << client.get_inventory() << std::endl;
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‎examples/connext_dds/remote_procedure_call/c++11/README.md

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# Example Code: Remote Procedure Calls
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:warning: **Connext 7.4.0** This example requires *Connext 7.4.0 or higher*.
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For the same example with support for older versions, check out the
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corresponding release branch, such as `release/7.3.0`.
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:warning: **Note**: For an overview of this feature, see the
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[RPC Tutorial](https://community.rti.com/static/documentation/connext-dds/7.2.0/doc/api/connext_dds/api_cpp2/group__RpcTutorialModule.html)
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[RPC Tutorial](https://community.rti.com/static/documentation/connext-dds/7.4.0/doc/api/connext_dds/api_cpp2/group__RpcTutorialModule.html)
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section of the *Connext* Modern C++ API Reference.
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## Building the Example :wrench:

‎examples/connext_dds/remote_procedure_call/c++11/USER_QOS_PROFILES.xml

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<?xml version="1.0"?>
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<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/7.0.0/rti_dds_qos_profiles.xsd">
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xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/current/rti_dds_profiles.xsd">
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<qos_library name="RequestReplyExampleProfiles">
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<!-- Default QoS:
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This profile contains the QoS that Requesters and Repliers
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would use by default. We can use it as a base profile to inherit
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from and override some parameters
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-->
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<qos_profile name="default">
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<datawriter_qos>
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<!-- Strict reliable -->
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<reliability>
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<kind>RELIABLE_RELIABILITY_QOS</kind>
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<max_blocking_time>
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<sec>10</sec>
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<nanosec>0</nanosec>
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</max_blocking_time>
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</reliability>
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<history>
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<kind>KEEP_ALL_HISTORY_QOS</kind>
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</history>
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<!-- These are typical protocol parameters for a reliable
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DataWriter -->
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<protocol>
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<rtps_reliable_writer>
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<max_heartbeat_retries>
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LENGTH_UNLIMITED
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</max_heartbeat_retries>
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<heartbeats_per_max_samples>
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2
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</heartbeats_per_max_samples>
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<heartbeat_period>
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<sec>0</sec>
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<nanosec>100000000</nanosec> <!--100ms -->
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</heartbeat_period>
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<fast_heartbeat_period>
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<sec>0</sec>
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<nanosec>10000000</nanosec> <!--10ms -->
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</fast_heartbeat_period>
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<late_joiner_heartbeat_period>
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<sec>0</sec>
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<nanosec>10000000</nanosec> <!--10ms -->
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</late_joiner_heartbeat_period>
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<max_nack_response_delay>
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<sec>0</sec>
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<nanosec>0</nanosec>
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</max_nack_response_delay>
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<min_nack_response_delay>
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<sec>0</sec>
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<nanosec>0</nanosec>
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</min_nack_response_delay>
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<max_send_window_size>32</max_send_window_size>
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<min_send_window_size>32</min_send_window_size>
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</rtps_reliable_writer>
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</protocol>
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<writer_resource_limits>
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<!-- This setting enables efficient communication
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between a replier and an arbitrary number of requesters
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-->
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<max_remote_reader_filters>
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LENGTH_UNLIMITED
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</max_remote_reader_filters>
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</writer_resource_limits>
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</datawriter_qos>
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<!-- Use these profiles to customize the Requester or Replier QoS -->
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<!-- These profiles inherit from the built-in profile
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BuiltinQosLib::Pattern.RPC, which defines the default values for
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the DataWriters and DataReaders created by a Requester or Replier
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-->
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<qos_profile name="RequesterExampleProfile" base_name="BuiltinQosLib::Pattern.RPC">
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<!-- Set the QoS for the DataReader created by the Requester -->
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<!--
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<datareader_qos>
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<!-- Strict reliable -->
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<reliability>
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<kind>RELIABLE_RELIABILITY_QOS</kind>
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<max_blocking_time>
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<sec>10</sec>
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<nanosec>0</nanosec>
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</max_blocking_time>
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</reliability>
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<history>
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<kind>KEEP_ALL_HISTORY_QOS</kind>
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</history>
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<!-- These are typical protocol parameters for a reliable
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DataReader -->
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<protocol>
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<rtps_reliable_reader>
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<max_heartbeat_response_delay>
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<sec>0</sec>
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<nanosec>0</nanosec>
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</max_heartbeat_response_delay>
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<min_heartbeat_response_delay>
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<sec>0</sec>
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<nanosec>0</nanosec>
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</min_heartbeat_response_delay>
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</rtps_reliable_reader>
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</protocol>
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...
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</datareader_qos>
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</qos_profile>
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<!-- This is the profile used by the Requester.
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It inherits from "default", defined above,
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and overrides some QoS -->
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<qos_profile name="RequesterExampleProfile"
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base_name="default">
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-->
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<!-- QoS for the data writer that sends requests -->
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<!-- Set the QoS for the DataWriter created by the Requester -->
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<!--
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<datawriter_qos>
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<durability>
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<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
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</durability>
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...
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</datawriter_qos>
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-->
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</qos_profile>
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<!-- QoS for the data reader that receives replies -->
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<qos_profile name="ReplierExampleProfile" base_name="BuiltinQosLib::Pattern.RPC">
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<!-- Set the QoS for the DataReader created by the Replier -->
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<!--
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<datareader_qos>
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<durability>
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<kind>VOLATILE_DURABILITY_QOS</kind>
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</durability>
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...
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</datareader_qos>
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</qos_profile>
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-->
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<!-- This is the profile used by the Replier.
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It inherits from "default", defined above,
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and overrides some QoS -->
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<qos_profile name="ReplierExampleProfile"
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base_name="default">
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<!-- QoS for the data writer that sends replies -->
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<!-- Set the QoS for the DataWriter created by the Replier -->
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<!--
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<datawriter_qos>
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<durability>
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<kind>VOLATILE_DURABILITY_QOS</kind>
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</durability>
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...
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</datawriter_qos>
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<!-- QoS for the data reader that receives requests -->
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<datareader_qos>
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<durability>
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<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
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</durability>
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</datareader_qos>
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-->
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</qos_profile>
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</qos_library>

‎examples/connext_dds/remote_procedure_call/py/README.md

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# Example Code: Remote Procedure Calls
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:warning: **Note**: For an overview of this feature, see the
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[Remote Procedure Calls](https://community.rti.com/static/documentation/connext-dds/7.2.0/doc/api/connext_dds/api_python/rpc.html#remote-procedure-calls)
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[Remote Procedure Calls](https://community.rti.com/static/documentation/connext-dds/7.4.0/doc/api/connext_dds/api_python/rpc.html#remote-procedure-calls)
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section of the *Connext* Python API Reference.
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## Running the Example

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