-Real-Time Publish-Subscribe (RTPS) communication protocol. RTPS is new
-application layer protocol targeted to real-time communication area,
-which is build on the top of standard UDP stack. Since there are many
-TCP/IP stack implementations under many operating systems and RTPS
-protocol does not have any other special HW/SW requirements, it should
-be easily ported to many HW/SW target platforms. Because it uses only
-UDP protocol, it retains control of timing and reliability.
+Real-Time Publish-Subscribe (RTPS) communication protocol. RTPS is a
+new application layer protocol targeted at real-time communication
+area, which is built on the top of standard UDP stack. Since there are
+many TCP/IP stack implementations under many operating systems and
+RTPS protocol does not have any other special HW/SW requirements, it
+should be easily ported to many HW/SW target platforms. Because it
+uses only UDP protocol, it retains control of timing and reliability.