Thanks you for your reply. We have a few vehicles to connect to a middleware, both can publish in different topics. .
We have established QoS parameters but we dont have the solution. We need persistency for late joiners but when a vehicle or middleware restarts, it receives again all messages, We assume this happens because they have different GUIDs.
These are the values that we have defined:
topicQos.value.reliability.kind = DDS.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
topicQos.value.durability.kind = DDS.DurabilityQosPolicyKind.TRANSIENT_DURABI