Just to push this topic a bit.
I was asking this question because I did some tests with two nodes. I was very surprised when I found out that it takes just a few seconds until a newly started node is shown in the list of the previous started node.
But if I stop a node it takes about 5 minutes until the change is shown in the list of the node that is still running.
I just took a look at the implementation below but wasn’t able to find any information in the fast rtps code how long it should take until the shutdown of a node is known by the rest of the system.