UDP: What is the right transport hint?

edit

In the various tutorials and ROS documentation I have seen the following variants of hinting that UDP packets should be used. Which is optimal for receiving the current AtlasStates message in DRCSIM?

jointStatesSo.transport_hints = ros::TransportHints().unreliable();
atlasStateSo.transport_hints = ros::TransportHints().reliable().tcpNoDelay(true)
jointStatesSo.transport_hints = ros::TransportHints().unreliable().reliable().tcpNoDelay(true);

On a side note, I am assuming the hand commands and states will switch to UDP as well?

What about IMU packets?

atlas_msgs/AtlasSimInterfaceState? atlas_msgs/AtlasSimInterfaceCommand?

controller_statistics?

clock messages?

Image transport? stereo proc messages?

laser spindle joint states?

laser scans?

Thanks,

Chris