dds-config.template.xml

<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>udpv6_transport</transport_id>
                <type>UDPv6</type>
                <maxInitialPeersRange>40</maxInitialPeersRange>
                <!-- <non_blocking_send>true</non_blocking_send> -->
            </transport_descriptor>
        </transport_descriptors>

        <participant profile_name="husarnet_simple_profile" is_default_profile="true">
            <rtps>
                <userTransports>
                    <transport_id>udpv6_transport</transport_id>
                </userTransports>
                <useBuiltinTransports>true</useBuiltinTransports>
                <defaultUnicastLocatorList>
                    <locator>
                        <udpv6>
                            <address>laptop</address>
                        </udpv6>
                    </locator>
                    <locator>
                        <udpv6>
                            <address>rosbot</address>
                        </udpv6>
                    </locator>
                </defaultUnicastLocatorList>
                <builtin>
                    <initialPeersList>
                        <locator>
                            <udpv6>
                                <address>laptop</address>
                            </udpv6>
                        </locator>
                        <locator>
                            <udpv6>
                                <address>rosbot</address>
                            </udpv6>
                        </locator>
                    </initialPeersList>
                    <metatrafficUnicastLocatorList>
                        <locator>
                            <udpv6>
                                <address>laptop</address>
                            </udpv6>
                        </locator>
                        <locator>
                            <udpv6>
                                <address>rosbot</address>
                            </udpv6>
                        </locator>
                    </metatrafficUnicastLocatorList>     
                </builtin>
            </rtps>
        </participant>
    </profiles>
</dds>