From 599b5c91dccd341543a6e62e08a6105cc80408ab Mon Sep 17 00:00:00 2001
From: Functionhx <2994114386@qq.com>
Date: Sun, 12 Jul 2026 11:04:36 +0800
Subject: [PATCH] fix: always set history_memory_policy to
 PREALLOCATED_WITH_REALLOC

When data_sharing is AUTOMATIC (default), the history_memory_policy was
only set to PREALLOCATED_WITH_REALLOC_MEMORY_MODE inside the block gated
by leave_middleware_default_qos. This meant users with default QoS
settings could hit NotEnoughMemoryException when the preallocated pool
was exhausted, because the policy was left at PREALLOCATED_MEMORY_MODE.

Move the assignment outside the conditional so it always applies.

Test plan: built and verified NotEnoughMemoryException no longer occurs
with default data_sharing AUTOMATIC configuration.

Signed-off-by: Functionhx <2994114386@qq.com>
---
 rmw_fastrtps_cpp/src/publisher.cpp            |  6 +++---
 rmw_fastrtps_cpp/src/rmw_client.cpp           | 12 ++++++------
 rmw_fastrtps_cpp/src/rmw_service.cpp          | 12 ++++++------
 rmw_fastrtps_cpp/src/subscription.cpp         | 12 ++++++------
 rmw_fastrtps_dynamic_cpp/src/publisher.cpp    |  6 +++---
 rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp   | 12 ++++++------
 rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp  | 12 ++++++------
 rmw_fastrtps_dynamic_cpp/src/subscription.cpp |  6 +++---
 rmw_fastrtps_shared_cpp/src/participant.cpp   | 10 ++++------
 9 files changed, 43 insertions(+), 45 deletions(-)

diff --git a/rmw_fastrtps_cpp/src/publisher.cpp b/rmw_fastrtps_cpp/src/publisher.cpp
index 0b4aa6feb8..34cdf9f112 100644
--- a/rmw_fastrtps_cpp/src/publisher.cpp
+++ b/rmw_fastrtps_cpp/src/publisher.cpp
@@ -242,6 +242,9 @@ rmw_fastrtps_cpp::create_publisher(
   publisher->get_datawriter_qos_from_profile(topic_name, writer_qos);
 
   // Modify specific DataWriter Qos
+  writer_qos.endpoint().history_memory_policy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+
   if (!participant_info->leave_middleware_default_qos) {
     if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
       writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
@@ -249,9 +252,6 @@ rmw_fastrtps_cpp::create_publisher(
       writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
     }
 
-    writer_qos.endpoint().history_memory_policy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-
     writer_qos.data_sharing().off();
   }
 
diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
index c1350b71bc..7f98621094 100644
--- a/rmw_fastrtps_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -312,10 +312,10 @@ rmw_create_client(
   subscriber->get_datareader_qos_from_profile(topic_name_fallback, reader_qos);
   subscriber->get_datareader_qos_from_profile(response_topic_name, reader_qos);
 
-  if (!participant_info->leave_middleware_default_qos) {
-    reader_qos.endpoint().history_memory_policy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  reader_qos.endpoint().history_memory_policy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
+  if (!participant_info->leave_middleware_default_qos) {
     reader_qos.data_sharing().off();
   }
 
@@ -374,6 +374,9 @@ rmw_create_client(
   publisher->get_datawriter_qos_from_profile(request_topic_name, writer_qos);
 
   // Modify specific DataWriter Qos
+  writer_qos.endpoint().history_memory_policy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+
   if (!participant_info->leave_middleware_default_qos) {
     if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
       writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
@@ -381,9 +384,6 @@ rmw_create_client(
       writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
     }
 
-    writer_qos.endpoint().history_memory_policy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-
     writer_qos.data_sharing().off();
   }
 
diff --git a/rmw_fastrtps_cpp/src/rmw_service.cpp b/rmw_fastrtps_cpp/src/rmw_service.cpp
index a116173db1..f5a09ee0d9 100644
--- a/rmw_fastrtps_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_service.cpp
@@ -308,10 +308,10 @@ rmw_create_service(
   subscriber->get_datareader_qos_from_profile(topic_name_fallback, reader_qos);
   subscriber->get_datareader_qos_from_profile(request_topic_name, reader_qos);
 
-  if (!participant_info->leave_middleware_default_qos) {
-    reader_qos.endpoint().history_memory_policy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  reader_qos.endpoint().history_memory_policy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
+  if (!participant_info->leave_middleware_default_qos) {
     reader_qos.data_sharing().off();
   }
 
@@ -374,6 +374,9 @@ rmw_create_service(
   publisher->get_datawriter_qos_from_profile(response_topic_name, writer_qos);
 
   // Modify specific DataWriter Qos
+  writer_qos.endpoint().history_memory_policy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+
   if (!participant_info->leave_middleware_default_qos) {
     if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
       writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
@@ -381,9 +384,6 @@ rmw_create_service(
       writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
     }
 
-    writer_qos.endpoint().history_memory_policy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-
     writer_qos.data_sharing().off();
   }
 
diff --git a/rmw_fastrtps_cpp/src/subscription.cpp b/rmw_fastrtps_cpp/src/subscription.cpp
index 8a7b285ee0..c7e76b06f0 100644
--- a/rmw_fastrtps_cpp/src/subscription.cpp
+++ b/rmw_fastrtps_cpp/src/subscription.cpp
@@ -416,10 +416,10 @@ __create_dynamic_subscription(
   // the QoS is already the default
   subscriber->get_datareader_qos_from_profile(topic_name, reader_qos);
 
-  if (!participant_info->leave_middleware_default_qos) {
-    reader_qos.endpoint().history_memory_policy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  reader_qos.endpoint().history_memory_policy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
+  if (!participant_info->leave_middleware_default_qos) {
     reader_qos.data_sharing().off();
   }
 
@@ -688,10 +688,10 @@ __create_subscription(
   // the QoS is already the default
   subscriber->get_datareader_qos_from_profile(topic_name, reader_qos);
 
-  if (!participant_info->leave_middleware_default_qos) {
-    reader_qos.endpoint().history_memory_policy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  reader_qos.endpoint().history_memory_policy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
+  if (!participant_info->leave_middleware_default_qos) {
     reader_qos.data_sharing().off();
   }
 
diff --git a/rmw_fastrtps_dynamic_cpp/src/publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
index 5f3168e6cc..e1d361f920 100644
--- a/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
@@ -249,6 +249,9 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
   publisher->get_datawriter_qos_from_profile(topic_name, writer_qos);
 
   // Modify specific DataWriter Qos
+  writer_qos.endpoint().history_memory_policy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+
   if (!participant_info->leave_middleware_default_qos) {
     if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
       writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
@@ -256,9 +259,6 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
       writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
     }
 
-    writer_qos.endpoint().history_memory_policy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-
     writer_qos.data_sharing().off();
   }
 
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
index ff04e63cec..9068fd1ea5 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
@@ -341,10 +341,10 @@ rmw_create_client(
   subscriber->get_datareader_qos_from_profile(topic_name_fallback, reader_qos);
   subscriber->get_datareader_qos_from_profile(response_topic_name, reader_qos);
 
-  if (!participant_info->leave_middleware_default_qos) {
-    reader_qos.endpoint().history_memory_policy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  reader_qos.endpoint().history_memory_policy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
+  if (!participant_info->leave_middleware_default_qos) {
     reader_qos.data_sharing().off();
   }
 
@@ -403,6 +403,9 @@ rmw_create_client(
   publisher->get_datawriter_qos_from_profile(request_topic_name, writer_qos);
 
   // Modify specific DataWriter Qos
+  writer_qos.endpoint().history_memory_policy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+
   if (!participant_info->leave_middleware_default_qos) {
     if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
       writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
@@ -410,9 +413,6 @@ rmw_create_client(
       writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
     }
 
-    writer_qos.endpoint().history_memory_policy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-
     writer_qos.data_sharing().off();
   }
 
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
index b4a6143d23..3704d4c1a8 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
@@ -337,10 +337,10 @@ rmw_create_service(
   subscriber->get_datareader_qos_from_profile(topic_name_fallback, reader_qos);
   subscriber->get_datareader_qos_from_profile(request_topic_name, reader_qos);
 
-  if (!participant_info->leave_middleware_default_qos) {
-    reader_qos.endpoint().history_memory_policy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  reader_qos.endpoint().history_memory_policy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
+  if (!participant_info->leave_middleware_default_qos) {
     reader_qos.data_sharing().off();
   }
 
@@ -403,6 +403,9 @@ rmw_create_service(
   publisher->get_datawriter_qos_from_profile(response_topic_name, writer_qos);
 
   // Modify specific DataWriter Qos
+  writer_qos.endpoint().history_memory_policy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+
   if (!participant_info->leave_middleware_default_qos) {
     if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
       writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
@@ -410,9 +413,6 @@ rmw_create_service(
       writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
     }
 
-    writer_qos.endpoint().history_memory_policy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-
     writer_qos.data_sharing().off();
   }
 
diff --git a/rmw_fastrtps_dynamic_cpp/src/subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/subscription.cpp
index 4c7f2acd9f..4c2a2eb4a0 100644
--- a/rmw_fastrtps_dynamic_cpp/src/subscription.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/subscription.cpp
@@ -257,10 +257,10 @@ create_subscription(
   // the QoS is already the default
   subscriber->get_datareader_qos_from_profile(topic_name, reader_qos);
 
-  if (!participant_info->leave_middleware_default_qos) {
-    reader_qos.endpoint().history_memory_policy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  reader_qos.endpoint().history_memory_policy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
+  if (!participant_info->leave_middleware_default_qos) {
     reader_qos.data_sharing().off();
   }
 
diff --git a/rmw_fastrtps_shared_cpp/src/participant.cpp b/rmw_fastrtps_shared_cpp/src/participant.cpp
index bb5d6c734a..d7cc1e16a4 100644
--- a/rmw_fastrtps_shared_cpp/src/participant.cpp
+++ b/rmw_fastrtps_shared_cpp/src/participant.cpp
@@ -329,12 +329,10 @@ rmw_fastrtps_shared_cpp::create_participant(
     }
   }
   // allow reallocation to support discovery messages bigger than 5000 bytes
-  if (!leave_middleware_default_qos) {
-    domainParticipantQos.wire_protocol().builtin.readerHistoryMemoryPolicy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-    domainParticipantQos.wire_protocol().builtin.writerHistoryMemoryPolicy =
-      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-  }
+  domainParticipantQos.wire_protocol().builtin.readerHistoryMemoryPolicy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  domainParticipantQos.wire_protocol().builtin.writerHistoryMemoryPolicy =
+    eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   if (security_options->security_root_path) {
     // if security_root_path provided, try to find the key and certificate files
 #if HAVE_SECURITY