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Amazingly, this is still relevant in foxy. This XML is correctly formatted and perfectly functional.

Unfortunately, most nodes don't use the system default QoS so this is going to have very limited effect. If you want to be able to change QoS via the DDS default, they need to set their QoS using

rclcpp::SystemDefaultsQoS()

expanded example and further discussion: https://discourse.ros.org/t/about-qos-of-images/18744/16?u=brettrd

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