1. A method for performing writer-side content based filtering and data distribution from a publisher to a plurality of subscribers using an Object Management Group (OMG) Real-Time Publish-Subscribe (RTPS) protocol, the method comprising following computer-implemented method steps executable by one or more computers in a networked system: (a) having the publisher and a plurality of subscribers being able to communicate with each other using the RTPS protocol, wherein each of the subscribers uses a content filter to subscribe to a subset of the information published by the publisher; (b) having the subscriber reachable in one or more locators defined as a transport kind, a transport address, or a transport port combination; (c) the publisher delaying sending of an RTPS GAP message to defined subscriber's locator until there is an RTPS DATA message with data that passes the subscriber's content filter; (d) the publisher prepending the RTPS GAP message to the RTPS DATA message that is being sent to the subscriber locator; (e) having the RTPS GAP message contain a sequence number interval starting in a sequence number of the last RTPS DATA message previously sent to the subscriber's locator and ending in a sequence number one less than the sequence number of the RTPS DATA message that is also being sent to the Subscriber's locator, following the RTPS GAP; (f) iterating the steps (c) to (e) over all the defined locators on each of the subscribers with whom the publisher is communicating; (g) having the publisher sending HEARTBEAT messages to a subscriber only when the subscriber is missing DATA messages that pass the subscriber's content-filter; and (h) having the publisher sending HEARTBEAT messages to a subscriber where a highest sequence number in the HEARTBEAT is equal to a highest sequence number of the DATA messages that passed the subscriber's content-filter.