Questions about the RMW_UXRCE_PUBLISH_RELIABLE_TIMEOUT parameter

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.

rmw_microxrcedds のドキュメントにある RMW_UXRCE_PUBLISH_RELIABLE_TIMEOUT の説明から始め、リンク先の Reliable QoS tutorial と比較してください。参照されている publish と spin の動作は、既存のドキュメントで特定されている範囲に限って追跡してください。完了の条件は、パラメーターの待機およびブロッキングのセマンティクスが曖昧さなく説明されていることです。