Questions about the RMW_UXRCE_PUBLISH_RELIABLE_TIMEOUT parameter

[ChoiYouJung]

Hello?
I have a few questions about the RMW_UXRCE_PUBLISH_RELIABLE_TIMEOUT parameter.

When I read the description of RMW_UXRCE_PUBLISH_RELIABLE_TIMEOUT, it said that it is the default time to wait for publish. Can you tell me if my understanding is correct?

• Reference address: https://github.com/micro-ROS/rmw_microxrcedds

What I understand is that RMW_UXRCE_PUBLISH_RELIABLE_TIMEOUT is the time it takes to wait for permission to publish when a publisher with reliable settings calls the publish function.

• Reference address(Reliable QoS) : https://micro.ros.org/docs/tutorials/programming_rcl_rclc/qos/

However, looking at the address below, it says that RMW_UXRCE_PUBLISH_RELIABLE_TIMEOUT is the blocking time or waiting time for approval while the spin function is called and publish is being processed. When publish is called from the spin function, is this the time waiting for permission for the operation? Or is the blocking time while processing publish correct?
Or is what I understood wrong and different?

Can you explain the RMW_UXRCE_PUBLISH_RELIABLE_TIMEOUT parameter?

Thank you.