.. include:: ../external-links.part.rst .. _ddsi_concepts: ############# DDSI concepts ############# The |url::ddsi_spec| is related to the |url::dds_spec|, with a clear correspondence between the entities in DDSI and those in DCPS. However, this correspondence is not one-to-one. To help explain where the DDSI specification ends and the |var-project| implementation begins, this section provides a high-level description of the concepts of the DDSI specification, with few references to the specifics of the |var-project| implementation. .. toctree:: :maxdepth: 1 :hidden: mapping_domains mapping_entities reliable_communication ddsi-transient_behavior discovery_participants