ShapeTypeExt Square Circle Triangle EXCLUSIVE_OWNERSHIP_QOS EXCLUSIVE_OWNERSHIP_QOS Triangle TRANSIENT_LOCAL_DURABILITY_QOS KEEP_LAST_HISTORY_QOS 10 TRANSIENT_LOCAL_DURABILITY_QOS 50 && y >= 100 ]]> RELIABLE_RELIABILITY_QOS 2 QueryShapeCommandLog QueryShapeCommandLogRequestTopic/request_topic_name QueryShapeCommandLogReplyTopic AUTOMATIC_LIVELINESS_QOS 10 AUTOMATIC_LIVELINESS_QOS 10 StopShapesServiceName GetShapePathRequestTopicName GetShapePathReplyTopicName RELIABLE_RELIABILITY_QOS 2 AUTOMATIC_LIVELINESS_QOS 10 RELIABLE_RELIABILITY_QOS 2 RELIABLE_RELIABILITY_QOS 2 AUTOMATIC_LIVELINESS_QOS 10 AUTOMATIC_LIVELINESS_QOS 10