How to take only next one sample with zero copy communication

[scoopySHI]

Hi, as i understand, for zero-copy communication i have to use take() instead of take_next_sample. But take would take away all the samples inside buffer and remove them later or? So i have to consume all samples in one callback for example. How can i only take one sample but sill using zero-copy communication? Thank you!!

[MiguelCompany]

You can use the third argument of take() to limit the number of samples returned.

Alternatively, you can configure max_samples_per_read on the reader_resource_limits() of your DataReaderQos

[scoopySHI]

Wow, your help is really quick, thank you!