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My goal is to avoid any memory allocation during runtime (no "malloc", no "new"). In order to be able to do it, at initialization I know in both side (writer & reader) the sample keys and topic field sizes.

What I have in mind is to use the sample instance mechanism. As far as I know, it allocates memory at initialization and then only update sample fields. Thus, on the data writing part I can do an instance registration. But on the data reading part, I cannot find the same mechanism as there is no instance registration capabilities. It seems that instances are created only when the first sample with a new key is received, so during runtime.  Is there something I am missing ?

Next to this, is there another way to do it ? Is there any other mechanism that is doing memory allocation during runtime ?

Thanks,

P.S. I am using the RTPS/C/SAC API.

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