XMLTester.xml

<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com" >
<profiles>

<!-->CONF_QOS_STATIC_DISCOVERY_USERID<-->
<data_writer profile_name="writer_xml_conf_static_discovery">
    <userDefinedID>3</userDefinedID>
</data_writer>

<data_reader profile_name="reader_xml_conf_static_discovery">
    <userDefinedID>5</userDefinedID>
</data_reader>
<!--><-->

<!-->PUBSUB_API_CONF_PUBSUB_DURABILITY<-->
<data_writer profile_name="writer_xml_conf_durability_profile">
    <qos>
        <durability>
            <kind>TRANSIENT_LOCAL</kind>
         </durability>
    </qos>
</data_writer>

<data_reader profile_name="reader_xml_conf_durability_profile">
    <qos>
        <durability>
            <kind>VOLATILE</kind>
        </durability>
    </qos>
</data_reader>
<!--><-->

<!-->PUBSUB_API_CONF_PUBSUB_DISABLE_POSITIVE_ACKS<-->
<data_writer profile_name="writer_xml_conf_disable_positive_acks_profile">
    <qos>
        <disablePositiveAcks>
            <enabled>true</enabled>
            <duration>
                <sec>1</sec>
            </duration>
        </disablePositiveAcks>
    </qos>
</data_writer>

<data_reader profile_name="reader_xml_conf_disable_positive_acks_profile">
    <qos>
        <disablePositiveAcks>
            <enabled>true</enabled>
        </disablePositiveAcks>
    </qos>
</data_reader>
<!--><-->

<!-->PUBSUB_API_CONF_PUBSUB_LIVELINESS<-->
<data_writer profile_name="writer_xml_conf_liveliness_profile">
    <qos>
        <liveliness>
            <announcement_period>
                <nanosec>1000000</nanosec>
            </announcement_period>
            <lease_duration>
                <sec>1</sec>
            </lease_duration>
            <kind>AUTOMATIC</kind>
        </liveliness>
    </qos>
</data_writer>

<data_reader profile_name="reader_xml_conf_liveliness_profile">
    <qos>
        <liveliness>
            <lease_duration>
                <sec>1</sec>
            </lease_duration>
            <kind>AUTOMATIC</kind>
        </liveliness>
    </qos>
</data_reader>
<!--><-->

<!-->PUBSUB_API_CONF_PUBSUB_OWNERSHIP<-->
<data_writer profile_name="writer_xml_conf_ownership_profile">
    <qos>
      <ownership>
        <kind>EXCLUSIVE</kind>
      </ownership>
    </qos>
</data_writer>

<data_reader profile_name="reader_xml_conf_ownership_profile">
    <qos>
        <ownership>
            <kind>EXCLUSIVE</kind>
        </ownership>
    </qos>
</data_reader>
<!--><-->

<!-->PUBSUB_API_CONF_PUBSUB_OWNERSHIP_STRENGTH<-->
<data_writer profile_name="writer_xml_conf_ownership_strength_profile">
    <qos>
        <ownershipStrength>
            <value>10</value>
        </ownershipStrength>
    </qos>
</data_writer>
<!--><-->

<!-->PUBSUB_API_CONF_PUBSUB_TRANSPORT_PRIORITY<-->
<data_writer profile_name="writer_xml_conf_transport_priority_profile">
    <qos>
        <transport_priority>12</transport_priority>
    </qos>
</data_writer>
<!--><-->

<!-->CONF-QOS-DATASHARING<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com">
-->
        <data_writer profile_name="writer_profile_qos_datasharing">
            <qos>
                <data_sharing>
                    <kind>AUTOMATIC</kind>
                    <domain_ids>
                        <domainId>123</domainId>
                        <domainId>098</domainId>
                    </domain_ids>
                </data_sharing>
            </qos>
        </data_writer>

        <data_reader profile_name="reader_profile_qos_datasharing">
            <qos>
                <data_sharing>
                    <kind>AUTOMATIC</kind>
                    <domain_ids>
                        <domainId>123</domainId>
                        <domainId>098</domainId>
                    </domain_ids>
                    <data_sharing_listener_thread>
                        <scheduling_policy>-1</scheduling_policy>
                        <priority>0</priority>
                        <affinity>0</affinity>
                        <stack_size>-1</stack_size>
                    </data_sharing_listener_thread>
                </data_sharing>
            </qos>
        </data_reader>
<!-->
    </profiles>
<dds>
<-->
<!--><-->

<!-->CONF-QOS-PARTITIONS<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <data_writer profile_name="pub_11">
        <qos>
            <partition>
                <names>
                    <name>Partition_1</name>
                    <name>Partition_2</name>
                </names>
            </partition>
        </qos>
    </data_writer>

    <data_writer profile_name="pub_12">
        <qos>
            <partition>
                <names>
                    <name>*</name>
                </names>
            </partition>
        </qos>
    </data_writer>

    <data_writer profile_name="pub_22">
        <qos>
            <partition>
                <names>
                    <name>Partition*</name>
                </names>
            </partition>
        </qos>
    </data_writer>

    <data_reader profile_name="subs_31">
        <qos>
            <partition>
                <names>
                    <name>Partition_1</name>
                </names>
            </partition>
        </qos>
    </data_reader>

    <data_reader profile_name="subs_32">
        <qos>
            <partition>
                <names>
                    <name>Partition_2</name>
                </names>
            </partition>
        </qos>
    </data_reader>

    <data_reader profile_name="subs_33">
        <qos>
            <partition>
                <names>
                    <name>Partition_3</name>
                </names>
            </partition>
        </qos>
    </data_reader>
<!--><-->

<!-->CONF-COMMON-THREAD-SETTINGS<-->
<!-->
<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com">
<-->
        <domainparticipant_factory profile_name="common_thread_seetings_dummy_profile">
            <qos>
                <file_watch_threads>
                <!-->
                <thread_settings>
                <-->
                    <scheduling_policy>2</scheduling_policy>
                    <priority>10</priority>
                    <affinity>4</affinity>
                    <stack_size>2000</stack_size>
                <!-->
                </thread_settings>
                <-->
                </file_watch_threads>
            </qos>
        </domainparticipant_factory>
<!-->
    </profiles>
<dds>
<-->
<!--><-->

<!-->CONF-COMMON-RECEPTION-THREADS-SETTINGS<-->
<transport_descriptors>
    <transport_descriptor>
        <transport_id>test_transport</transport_id>
        <type>UDPv4</type>
        <reception_threads>
            <reception_thread port="20000">
                <scheduling_policy>1</scheduling_policy>
                <priority>30</priority>
                <affinity>2</affinity>
                <stack_size>1024</stack_size>
            </reception_thread>
            <reception_thread port="20001">
                <scheduling_policy>2</scheduling_policy>
                <priority>10</priority>
                <affinity>6</affinity>
                <stack_size>4096</stack_size>
            </reception_thread>
        </reception_threads>
    </transport_descriptor>
</transport_descriptors>
<!--><-->

<!-->CONF-COMMON-TRANSPORT-SETTING<-->
<transport_descriptors>
    <transport_descriptor>
        <transport_id>my_transport</transport_id>
        <type>UDPv4</type>
        <sendBufferSize>9216</sendBufferSize>
        <receiveBufferSize>9216</receiveBufferSize>
    </transport_descriptor>
</transport_descriptors>

<participant profile_name="my_transport">
    <rtps>
        <userTransports>
            <transport_id>my_transport</transport_id>
        </userTransports>
        <useBuiltinTransports>false</useBuiltinTransports>
        <netmask_filter>ON</netmask_filter>
    </rtps>
</participant>
<!--><-->

<!-->CONF-UDP-TRANSPORT-SETTING<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com">
-->
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>udp_transport</transport_id>
                <type>UDPv4</type>
                <sendBufferSize>9216</sendBufferSize>
                <receiveBufferSize>9216</receiveBufferSize>
                <non_blocking_send>true</non_blocking_send>
                <default_reception_threads>
                    <scheduling_policy>2</scheduling_policy>
                    <priority>2</priority>
                    <affinity>2</affinity>
                    <stack_size>2</stack_size>
                </default_reception_threads>
                <reception_threads>
                    <reception_thread port="12345">
                        <scheduling_policy>3</scheduling_policy>
                        <priority>3</priority>
                        <affinity>3</affinity>
                        <stack_size>3</stack_size>
                    </reception_thread>
                </reception_threads>
            </transport_descriptor>
        </transport_descriptors>

        <participant profile_name="UDPParticipant">
            <rtps>
                <userTransports>
                    <transport_id>udp_transport</transport_id>
                </userTransports>
                <useBuiltinTransports>false</useBuiltinTransports>
            </rtps>
        </participant>
<!-->
    </profiles>
<dds>
<-->
<!--><-->

<!-->CONF-TCP-TRANSPORT-SETTING-SERVER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com">
-->
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>tcp_server_transport</transport_id>
                <type>TCPv4</type>
                <listening_ports>
                    <port>5100</port>
                </listening_ports>
                <!-- Optional thread configuration -->
                <default_reception_threads>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </default_reception_threads>
                <reception_threads>
                    <reception_thread port="12345">
                        <scheduling_policy>-1</scheduling_policy>
                        <priority>0</priority>
                        <affinity>0</affinity>
                        <stack_size>-1</stack_size>
                    </reception_thread>
                </reception_threads>
                <keep_alive_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </keep_alive_thread>
                <accept_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </accept_thread>
            </transport_descriptor>
        </transport_descriptors>

        <participant profile_name="tcp_server_participant">
            <rtps>
                <userTransports>
                    <transport_id>tcp_server_transport</transport_id>
                </userTransports>
                <useBuiltinTransports>false</useBuiltinTransports>
                <!-- Optional unicast locator set -->
                <defaultUnicastLocatorList>
                    <locator>
                        <tcpv4>
                            <address>192.168.1.10</address>
                            <physical_port>5100</physical_port>
                            <!-- Optional logical port set -->
                            <port>5100</port>
                        </tcpv4>
                    </locator>
                </defaultUnicastLocatorList>
                <!-- Optional metatraffic unicast locator set -->
                <builtin>
                    <metatrafficUnicastLocatorList>
                        <locator>
                            <tcpv4>
                                <address>192.168.1.10</address>
                                <physical_port>5100</physical_port>
                                <!-- Optional logical port set -->
                                <port>5100</port>
                            </tcpv4>
                        </locator>
                    </metatrafficUnicastLocatorList>
                </builtin>
            </rtps>
        </participant>
<!-->
    </profiles>
</dds>
<-->
<!--><-->

<!-->CONF-TCP-TRANSPORT-SETTING-CLIENT<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com">
-->
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>tcp_client_transport</transport_id>
                <type>TCPv4</type>
                <!-- Optional thread configuration -->
                <default_reception_threads>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </default_reception_threads>
                <reception_threads>
                    <reception_thread port="12345">
                        <scheduling_policy>-1</scheduling_policy>
                        <priority>0</priority>
                        <affinity>0</affinity>
                        <stack_size>-1</stack_size>
                    </reception_thread>
                </reception_threads>
                <keep_alive_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </keep_alive_thread>
                <accept_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </accept_thread>
            </transport_descriptor>
        </transport_descriptors>

        <participant profile_name="tcp_client_participant">
            <rtps>
                <userTransports>
                    <transport_id>tcp_client_transport</transport_id>
                </userTransports>
                <useBuiltinTransports>false</useBuiltinTransports>
                <builtin>
                    <initialPeersList>
                        <locator>
                            <tcpv4>
                                <address>192.168.1.10</address>
                                <physical_port>5100</physical_port>
                                <!-- To be set if set in server -->
                                <port>5100</port>
                            </tcpv4>
                        </locator>
                    </initialPeersList>
                </builtin>
            </rtps>
        </participant>
<!-->
    </profiles>
</dds>
<-->
<!--><-->

<!-->CONF-TCP-TRANSPORT-SETTING-WAN-SERVER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>tcp_server_wan_transport</transport_id>
                <type>TCPv4</type>
                <listening_ports>
                    <port>5100</port>
                </listening_ports>
                <wan_addr>80.80.99.45</wan_addr>
                <!-- Optional thread configuration -->
                <default_reception_threads>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </default_reception_threads>
                <reception_threads>
                    <reception_thread port="12345">
                        <scheduling_policy>-1</scheduling_policy>
                        <priority>0</priority>
                        <affinity>0</affinity>
                        <stack_size>-1</stack_size>
                    </reception_thread>
                </reception_threads>
                <keep_alive_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </keep_alive_thread>
                <accept_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </accept_thread>
            </transport_descriptor>
        </transport_descriptors>

        <participant profile_name="tcp_server_wan_participant">
            <rtps>
                <userTransports>
                    <transport_id>tcp_server_wan_transport</transport_id>
                </userTransports>
                <useBuiltinTransports>false</useBuiltinTransports>
                <!-- Optional unicast locator set -->
                <defaultUnicastLocatorList>
                    <locator>
                        <tcpv4>
                            <address>192.168.1.10</address>
                            <!-- Alternatively use WAN address -->
                            <!-- <address>80.80.99.45</address> -->
                            <physical_port>5100</physical_port>
                            <!-- Optional logical port set -->
                            <port>5100</port>
                        </tcpv4>
                    </locator>
                </defaultUnicastLocatorList>
                <!-- Optional metatraffic unicast locator set -->
                <builtin>
                    <metatrafficUnicastLocatorList>
                        <locator>
                            <tcpv4>
                                <address>192.168.1.10</address>
                                <!-- Alternatively use WAN address -->
                                <!-- <address>80.80.99.45</address> -->
                                <physical_port>5100</physical_port>
                                <!-- Optional logical port set -->
                                <port>5100</port>
                            </tcpv4>
                        </locator>
                    </metatrafficUnicastLocatorList>
                </builtin>
            </rtps>
        </participant>
<!-->
    </profiles>
</dds>
<-->
<!--><-->

<!-->CONF-TCP-TRANSPORT-SETTING-WAN-CLIENT<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>tcp_client_wan_transport</transport_id>
                <type>TCPv4</type>
                <!-- Recommended client's WAN set -->
                <wan_addr>80.80.99.47</wan_addr>
                <!-- Optional thread configuration -->
                <default_reception_threads>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </default_reception_threads>
                <reception_threads>
                    <reception_thread port="12345">
                        <scheduling_policy>-1</scheduling_policy>
                        <priority>0</priority>
                        <affinity>0</affinity>
                        <stack_size>-1</stack_size>
                    </reception_thread>
                </reception_threads>
                <keep_alive_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </keep_alive_thread>
                <accept_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </accept_thread>
            </transport_descriptor>
        </transport_descriptors>

        <participant profile_name="tcp_client_wan_participant">
            <rtps>
                <userTransports>
                    <transport_id>tcp_client_wan_transport</transport_id>
                </userTransports>
                <useBuiltinTransports>false</useBuiltinTransports>
                <builtin>
                    <initialPeersList>
                        <locator>
                            <tcpv4>
                                <!-- Recommended use of both WAN and LAN server addresses -->
                                <wan_address>80.80.99.45</wan_address>
                                <address>192.168.1.10</address>
                                <!-- Alternatively use server's WAN addresses only -->
                                <!-- <address>80.80.99.45</address> -->
                                <physical_port>5100</physical_port>
                                <!-- To be set if set in server -->
                                <port>5100</port>
                            </tcpv4>
                        </locator>
                    </initialPeersList>
                </builtin>
            </rtps>
        </participant>
<!-->
    </profiles>
</dds>
<-->
<!--><-->

<!-->CONF-SHM-TRANSPORT-SETTING<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com">
-->
        <transport_descriptors>
            <!-- Create a descriptor for the new transport -->
            <transport_descriptor>
                <transport_id>shm_transport</transport_id>
                <type>SHM</type>
                <default_reception_threads> <!-- OPTIONAL -->
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </default_reception_threads>
                <reception_threads> <!-- OPTIONAL -->
                    <reception_thread port="12345">
                        <scheduling_policy>-1</scheduling_policy>
                        <priority>0</priority>
                        <affinity>0</affinity>
                        <stack_size>-1</stack_size>
                    </reception_thread>
                </reception_threads>
                <dump_thread> <!-- OPTIONAL -->
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </dump_thread>
            </transport_descriptor>
        </transport_descriptors>

        <participant profile_name="SHMParticipant">
            <rtps>
                <!-- Link the Transport Layer to the Participant -->
                <userTransports>
                    <transport_id>shm_transport</transport_id>
                </userTransports>
            </rtps>
        </participant>
<!-->
    </profiles>
</dds>
<-->
<!--><-->

<!-->CONF-SHM-TRANSPORT-DISABLE-BUILTIN-TRANSPORTS<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <transport_descriptors>
        <!-- Create a descriptor for the new transport -->
        <transport_descriptor>
            <transport_id>shm_transport_only</transport_id>
            <type>SHM</type>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="DisableBuiltinTransportsParticipant">
        <rtps>
            <!-- Link the Transport Layer to the Participant -->
            <userTransports>
                <transport_id>shm_transport_only</transport_id>
            </userTransports>
            <useBuiltinTransports>false</useBuiltinTransports>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-TCP-TLS-SERVER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>tls_transport_server</transport_id>
            <type>TCPv4</type>
            <tls>
                <password>test</password>
                <private_key_file>serverkey.pem</private_key_file>
                <cert_chain_file>server.pem</cert_chain_file>
                <tmp_dh_file>dh2048.pem</tmp_dh_file>
                <options>
                    <option>DEFAULT_WORKAROUNDS</option>
                    <option>SINGLE_DH_USE</option>
                    <option>NO_SSLV2</option>
                </options>
            </tls>
            <sendBufferSize>9216</sendBufferSize>
            <receiveBufferSize>9216</receiveBufferSize>
            <listening_ports>
                <port>5100</port>
            </listening_ports>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="TLSServerParticipant">
        <rtps>
            <userTransports>
                <transport_id>tls_transport_server</transport_id>
            </userTransports>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-TCP-TLS-CLIENT<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>tls_transport_client</transport_id>
            <type>TCPv4</type>
            <tls>
                <verify_file>ca.pem</verify_file>
                <verify_mode>
                    <verify>VERIFY_PEER</verify>
                    <verify>VERIFY_FAIL_IF_NO_PEER_CERT</verify>
                </verify_mode>
                <options>
                    <option>DEFAULT_WORKAROUNDS</option>
                    <option>SINGLE_DH_USE</option>
                    <option>NO_SSLV2</option>
                </options>
                <server_name>my_server.com</server_name>
            </tls>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="TLSClientParticipant">
        <rtps>
            <userTransports>
                <transport_id>tls_transport_client</transport_id>
            </userTransports>
            <builtin>
                <initialPeersList>
                    <locator>
                        <tcpv4>
                            <address>192.168.1.10</address>
                            <physical_port>5100</physical_port>
                        </tcpv4>
                    </locator>
                </initialPeersList>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-DISABLE-MULTICAST<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="disable_multicast" is_default_profile="true">
        <rtps>
            <builtin>
                <metatrafficUnicastLocatorList>
                    <locator>
                        <udpv4>
                            <address>192.168.0.1</address>
                        </udpv4>
                    </locator>
                </metatrafficUnicastLocatorList>
                <initialPeersList>
                    <locator>
                        <udpv4>
                            <address>192.168.0.1</address>
                        </udpv4>
                    </locator>
                </initialPeersList>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-QOS-FLOWCONTROLLER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_profile_qos_flowcontroller">
        <rtps>
            <flow_controller_descriptor_list>
                <flow_controller_descriptor>
                    <name>example_flow_controller</name>
                    <scheduler>FIFO</scheduler>
                    <max_bytes_per_period>4096</max_bytes_per_period>
                    <period_ms>500</period_ms>
                    <sender_thread>
                        <scheduling_policy>-1</scheduling_policy>
                        <priority>0</priority>
                        <affinity>0</affinity>
                        <stack_size>-1</stack_size>
                    </sender_thread>
                </flow_controller_descriptor>
            </flow_controller_descriptor_list>

            <builtin> <!-- Optional use of flow controller for participant's meta traffic-->
                <flow_controller_name>example_flow_controller</flow_controller_name>
            </builtin>
        </rtps>
    </participant>

    <data_writer profile_name="writer_profile_qos_flowcontroller">
        <qos>
            <publishMode>
                <kind>ASYNCHRONOUS</kind>
                <flow_controller_name>example_flow_controller</flow_controller_name>
            </publishMode>
        </qos>
    </data_writer>
<!--><-->

<!-->CONF-QOS-PUBLISHMODE<-->
<data_writer profile_name="writer_profile_qos_publishmode">
    <qos>
        <publishMode>
            <kind>ASYNCHRONOUS</kind>
            <flow_controller_name>example_flow_controller</flow_controller_name>
        </publishMode>
    </qos>
</data_writer>
<!--><-->

<!-->CONF-QOS-DISCOVERY-EDP-ATTRIBUTES<-->
<participant profile_name="participant_profile_qos_discovery_edp">
    <rtps>
        <builtin>
            <discovery_config>
                <EDP>SIMPLE</EDP>
                <simpleEDP>
                    <PUBWRITER_SUBREADER>true</PUBWRITER_SUBREADER>
                    <PUBREADER_SUBWRITER>false</PUBREADER_SUBWRITER>
                </simpleEDP>
            </discovery_config>
        </builtin>
    </rtps>
</participant>
<!--><-->

<!-->XML-DS-CLI-XML-CONF<-->
<participant profile_name="participant_profile_discovery_server_cli" is_default_profile="true">
    <rtps>
        <builtin>
            <discovery_config>
                <discoveryProtocol>SERVER</discoveryProtocol>
            </discovery_config>
            <metatrafficUnicastLocatorList>
                <locator>
                    <udpv4>
                        <address>localhost</address>
                        <port>14520</port>
                    </udpv4>
                </locator>
            </metatrafficUnicastLocatorList>
        </builtin>
    </rtps>
</participant>

<participant profile_name="second_participant_profile_discovery_server_cli">
    <rtps>
        <builtin>
            <discovery_config>
                <discoveryProtocol>SERVER</discoveryProtocol>
            </discovery_config>
            <metatrafficUnicastLocatorList>
                <locator>
                    <udpv4>
                        <address>192.168.36.34</address>
                        <port>8783</port>
                    </udpv4>
                </locator>
                <locator>
                    <udpv4>
                        <address>172.20.96.1</address>
                        <port>51083</port>
                    </udpv4>
                </locator>
            </metatrafficUnicastLocatorList>
        </builtin>
    </rtps>
</participant>

<participant profile_name="secure_discovery_server_cli">
    <rtps>
        <builtin>
            <discovery_config>
                <discoveryProtocol>SERVER</discoveryProtocol>
            </discovery_config>
            <metatrafficUnicastLocatorList>
                <locator>
                    <udpv4>
                        <address>0.0.0.0</address>
                        <port>11811</port>
                    </udpv4>
                </locator>
            </metatrafficUnicastLocatorList>
        </builtin>
        <propertiesPolicy>
            <properties>
                <!-- Activate Auth:PKI-DH plugin -->
                <property>
                    <name>dds.sec.auth.plugin</name>
                    <value>builtin.PKI-DH</value>
                </property>

                <!-- Configure Auth:PKI-DH plugin -->
                <property>
                    <name>dds.sec.auth.builtin.PKI-DH.identity_ca</name>
                    <value>file://maincacert.pem</value>
                </property>
                <property>
                    <name>dds.sec.auth.builtin.PKI-DH.identity_certificate</name>
                    <value>file://appcert.pem</value>
                </property>
                <property>
                    <name>dds.sec.auth.builtin.PKI-DH.private_key</name>
                    <value>file://appkey.pem</value>
                </property>

                <!-- Activate Access:Permissions plugin -->
                <property>
                    <name>dds.sec.access.plugin</name>
                    <value>builtin.Access-Permissions</value>
                </property>

                <!-- Configure Access:Permissions plugin -->
                <property>
                    <name>dds.sec.access.builtin.Access-Permissions.permissions_ca</name>
                    <value>file://maincacet.pem</value>
                </property>
                <property>
                    <name>dds.sec.access.builtin.Access-Permissions.governance</name>
                    <value>file://governance.smime</value>
                </property>
                <property>
                    <name>dds.sec.access.builtin.Access-Permissions.permissions</name>
                    <value>file://permissions.smime</value>
                </property>

                <!-- Activate Crypto:AES-GCM-GMAC plugin -->
                <property>
                    <name>dds.sec.crypto.plugin</name>
                    <value>builtin.AES-GCM-GMAC</value>
                </property>
            </properties>
        </propertiesPolicy>
    </rtps>
</participant>
<!--><-->

<!-->CONF-QOS-INCREASE-SOCKETBUFFERS><-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_xml_profile_qos_socketbuffers">
        <rtps>
            <sendSocketBufferSize>1048576</sendSocketBufferSize>
            <listenSocketBufferSize>4194304</listenSocketBufferSize>
        </rtps>
    </participant>
<!--><-->

<!-->TRANSPORT-DESCRIPTORS<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>CustomTcpTransportWhitelistAddress</transport_id>
            <type>TCPv4</type>
            <interfaceWhiteList>
                <address>127.0.0.1</address>
            </interfaceWhiteList>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="CustomTcpTransportWhitelistAddressParticipant">
        <rtps>
            <useBuiltinTransports>false</useBuiltinTransports>
            <userTransports>
                <transport_id>CustomTcpTransportWhitelistAddress</transport_id>
            </userTransports>
        </rtps>
    </participant>
<!--><-->

<!-->WHITELIST-NAME<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>CustomTcpTransportWhitelistName</transport_id>
            <type>TCPv4</type>
            <interfaceWhiteList>
                <interface>lo</interface>
            </interfaceWhiteList>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="CustomTcpTransportWhitelistNameParticipant">
        <rtps>
            <useBuiltinTransports>false</useBuiltinTransports>
            <userTransports>
                <transport_id>CustomTcpTransportWhitelistName</transport_id>
            </userTransports>
        </rtps>
    </participant>
<!--><-->

<!-->PARTICIPANT-NETMASK-FILTER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
    <participant profile_name="CustomTcpParticipantNetmaskFilterParticipant">
        <rtps>
            <ignore_non_matching_locators>true</ignore_non_matching_locators>
            <netmask_filter>ON</netmask_filter>
        </rtps>
    </participant>
<!--><-->

<!-->TRANSPORT-NETMASK-FILTER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>CustomTcpTransportNetmaskFilter</transport_id>
            <type>TCPv4</type>
            <netmask_filter>ON</netmask_filter>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="CustomTcpTransportNetmaskFilterParticipant">
        <rtps>
            <useBuiltinTransports>false</useBuiltinTransports>
            <userTransports>
                <transport_id>CustomTcpTransportNetmaskFilter</transport_id>
            </userTransports>
            <ignore_non_matching_locators>true</ignore_non_matching_locators>
        </rtps>
    </participant>
<!--><-->

<!-->INTERFACES-ALLOWLIST<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>CustomTcpTransportAllowlist</transport_id>
            <type>TCPv4</type>
            <interfaces>
                <allowlist>
                    <interface name="wlp59s0" netmask_filter="ON"/>
                    <interface name="192.168.1.10" netmask_filter="OFF"/>
                </allowlist>
            </interfaces>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="CustomTcpTransportAllowlistParticipant">
        <rtps>
            <useBuiltinTransports>false</useBuiltinTransports>
            <userTransports>
                <transport_id>CustomTcpTransportAllowlist</transport_id>
            </userTransports>
        </rtps>
    </participant>
<!--><-->

<!-->INTERFACES-BLOCKLIST<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>CustomTcpTransportBlocklist</transport_id>
            <type>TCPv4</type>
            <interfaces>
                <blocklist>
                    <interface name="127.0.0.1"/>
                    <interface name="docker0"/>
                </blocklist>
            </interfaces>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="CustomTcpTransportBlocklistParticipant">
        <rtps>
            <useBuiltinTransports>false</useBuiltinTransports>
            <userTransports>
                <transport_id>CustomTcpTransportBlocklist</transport_id>
            </userTransports>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-TRANSPORT_METAMULTICASTLOCATOR<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="CustomMetatrafficMulticastParticipant">
        <rtps>
            <builtin>
                <metatrafficMulticastLocatorList>
                    <!-- LOCATOR_LIST -->
                    <locator>
                        <udpv4>
                            <address>239.255.0.1</address>
                            <port>22222</port>
                        </udpv4>
                    </locator>
                </metatrafficMulticastLocatorList>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-TRANSPORT_METAUNICASTLOCATOR<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="CustomMetatrafficUnicastParticipant">
        <rtps>
            <builtin>
                <metatrafficUnicastLocatorList>
                    <!-- LOCATOR_LIST -->
                    <locator>
                        <udpv4>
                            <address>192.168.0.1</address>
                            <port>22223</port>
                        </udpv4>
                    </locator>
                </metatrafficUnicastLocatorList>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-TRANSPORT_USERMULTICASTLOCATOR<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="CustomUsertrafficMulticastParticipant">
        <rtps>
            <defaultMulticastLocatorList>
                <!-- LOCATOR_LIST -->
                <locator>
                    <udpv4>
                        <address>239.255.0.1</address>
                        <port>22224</port>
                    </udpv4>
                </locator>
            </defaultMulticastLocatorList>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-TRANSPORT_USERUNICASTLOCATOR<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="CustomUsertrafficUnicastParticipant">
        <rtps>
            <defaultUnicastLocatorList>
                <!-- LOCATOR_LIST -->
                <locator>
                    <udpv4>
                        <address>192.168.0.1</address>
                        <port>22225</port>
                    </udpv4>
                </locator>
            </defaultUnicastLocatorList>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-TRANSPORT-DESCRIPTORS<-->
<transport_descriptors>
    <transport_descriptor>
        <transport_id>CustomTransport</transport_id>
        <type>UDPv4</type>
        <interfaceWhiteList>
            <address>192.168.1.10</address>
            <interface>lo</interface>
        </interfaceWhiteList>
    </transport_descriptor>

    <!--XML-CONF-TRANSPORT-DESCRIPTORS-->
    <transport_descriptor>
        <transport_id>TransportId1</transport_id>
        <type>UDPv4</type>
        <sendBufferSize>8192</sendBufferSize>
        <receiveBufferSize>8192</receiveBufferSize>
        <TTL>250</TTL>
        <non_blocking_send>false</non_blocking_send>
        <maxMessageSize>16384</maxMessageSize>
        <maxInitialPeersRange>100</maxInitialPeersRange>
        <interfaceWhiteList>
            <address>192.168.1.41</address>
            <interface>lo</interface>
        </interfaceWhiteList>
        <wan_addr>80.80.55.44</wan_addr>
        <output_port>5101</output_port>
        <keep_alive_frequency_ms>5000</keep_alive_frequency_ms>
        <keep_alive_timeout_ms>25000</keep_alive_timeout_ms>
        <max_logical_port>9000</max_logical_port>
        <logical_port_range>100</logical_port_range>
        <logical_port_increment>2</logical_port_increment>
        <listening_ports>
            <port>5100</port>
            <port>5200</port>
        </listening_ports>
        <calculate_crc>false</calculate_crc>
        <check_crc>false</check_crc>
        <enable_tcp_nodelay>false</enable_tcp_nodelay>
        <tls><!-- TLS Section --></tls>
    </transport_descriptor>

    <transport_descriptor>
        <transport_id>TransportId2</transport_id>
        <type>TCPv4</type>
        <!-- ... -->
    </transport_descriptor>

<!-->PROFILES-TRANSPORT-DESCRIPTORS<-->
<transport_descriptor>
    <transport_id>TransportProfile</transport_id>
    <type>UDPv4</type>
    <!-- ... -->
</transport_descriptor>

</transport_descriptors>
<!--><-->

<!-->XML-TCP-TLS<-->
<!-->
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
<-->
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>Test</transport_id>
                <type>TCPv4</type>
                <tls>
                    <password>Password</password>
                    <private_key_file>Key_file.pem</private_key_file>
                    <rsa_private_key_file>RSA_file.pem</rsa_private_key_file>
                    <cert_chain_file>Chain.pem</cert_chain_file>
                    <tmp_dh_file>DH.pem</tmp_dh_file>
                    <verify_file>verify.pem</verify_file>
                    <verify_mode>
                        <verify>VERIFY_PEER</verify>
                    </verify_mode>
                    <options>
                        <option>NO_TLSV1</option>
                        <option>NO_TLSV1_1</option>
                    </options>
                    <verify_paths>
                        <verify_path>Path1</verify_path>
                        <verify_path>Path2</verify_path>
                        <verify_path>Path3</verify_path>
                    </verify_paths>
                    <verify_depth>55</verify_depth>
                    <default_verify_path>true</default_verify_path>
                    <handshake_role>SERVER</handshake_role>
                    <server_name>my_server.com</server_name>
                </tls>
            </transport_descriptor>
        </transport_descriptors>
<!-->
    </profiles>
</dds>
<-->
<!--><-->

<!--PROFILES-->
<participant profile_name="participant_profile">
    <rtps>
    <!-- ... -->
    </rtps>
</participant>

<data_writer profile_name="writer_profile">
    <!-- ... -->
</data_writer>

<data_reader profile_name="reader_profile">
    <!-- ... -->
</data_reader>
<!--><-->

<!-->XML-PARTICIPANT-FACTORY<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com">
-->
        <domainparticipant_factory profile_name="domainparticipant_factory_profile_name">
            <qos>
                <entity_factory>
                    <autoenable_created_entities>true</autoenable_created_entities>
                </entity_factory>
                <shm_watchdog_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </shm_watchdog_thread>
                <file_watch_threads>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </file_watch_threads>
            </qos>
        </domainparticipant_factory>
<!--
    </profiles>
<dds>
-->
<!--><-->

<!-->XML-PARTICIPANT<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com">
-->
        <participant profile_name="domainparticipant_profile_name">
            <domainId>4</domainId>
            <rtps>
                <name>DomainParticipant Name</name>

                <defaultUnicastLocatorList>
                    <!-- LOCATOR_LIST -->
                    <locator>
                        <udpv4>
                            <port>7400</port>
                            <address>192.168.1.41</address>
                        </udpv4>
                    </locator>
                </defaultUnicastLocatorList>

                <defaultMulticastLocatorList>
                    <!-- LOCATOR_LIST -->
                    <locator>
                        <udpv4>
                            <port>7400</port>
                            <address>192.168.2.41</address>
                        </udpv4>
                    </locator>
                </defaultMulticastLocatorList>

                <default_external_unicast_locators>
                    <!-- EXTERNAL_LOCATOR_LIST -->
                    <udpv4 externality="1" cost="0" mask="24">
                        <address>100.100.100.10</address>
                        <port>23456</port>
                    </udpv4>
                </default_external_unicast_locators>

                <ignore_non_matching_locators>true</ignore_non_matching_locators>

                <sendSocketBufferSize>8192</sendSocketBufferSize>

                <listenSocketBufferSize>8192</listenSocketBufferSize>

                <netmask_filter>ON</netmask_filter>

                <builtin>
                    <!-- BUILTIN -->
                </builtin>

                <port>
                    <portBase>7400</portBase>
                    <domainIDGain>200</domainIDGain>
                    <participantIDGain>10</participantIDGain>
                    <offsetd0>0</offsetd0>
                    <offsetd1>1</offsetd1>
                    <offsetd2>2</offsetd2>
                    <offsetd3>3</offsetd3>
                </port>

                <participantID>99</participantID>

                <userTransports>
                    <transport_id>TransportId1</transport_id>
                    <transport_id>TransportId2</transport_id>
                </userTransports>

                <useBuiltinTransports>false</useBuiltinTransports>

                <builtinTransports>DEFAULT</builtinTransports>

                <propertiesPolicy>
                    <!-- PROPERTIES_POLICY -->
                    <properties>
                        <property>
                            <name>Property1Name</name>
                            <value>Property1Value</value>
                            <propagate>false</propagate>
                        </property>
                    </properties>
                </propertiesPolicy>

                <allocation>
                    <!-- ALLOCATION -->
                </allocation>

                <userData>
                    <value>3.4.7.0.C</value>
                </userData>

                <prefix>72.61.73.70.66.61.72.6d.74.65.73.74</prefix>

                <builtin_controllers_sender_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </builtin_controllers_sender_thread>

                <timed_events_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </timed_events_thread>

                <discovery_server_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </discovery_server_thread>

                <typelookup_service_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </typelookup_service_thread>

                <builtin_transports_reception_threads>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </builtin_transports_reception_threads>

                <security_log_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </security_log_thread>

                <flow_controller_descriptor_list>
                    <flow_controller_descriptor>
                        <name>example_flow_controller</name>
                        <scheduler>FIFO</scheduler>
                        <max_bytes_per_period>4096</max_bytes_per_period>
                        <period_ms>500</period_ms>
                        <sender_thread>
                            <scheduling_policy>-1</scheduling_policy>
                            <priority>0</priority>
                            <affinity>0</affinity>
                            <stack_size>-1</stack_size>
                        </sender_thread>
                    </flow_controller_descriptor>
                </flow_controller_descriptor_list>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

<participant profile_name="part_allocation_example">
<rtps>
<!-->XML-PARTICIPANT-ALLOCATION<-->
<allocation>
    <remote_locators>
        <max_unicast_locators>4</max_unicast_locators>
        <max_multicast_locators>1</max_multicast_locators>
    </remote_locators>

    <total_participants>
        <initial>0</initial>
        <maximum>0</maximum>
        <increment>1</increment>
    </total_participants>

    <total_readers>
        <initial>0</initial>
        <maximum>0</maximum>
        <increment>1</increment>
    </total_readers>

    <total_writers>
        <initial>0</initial>
        <maximum>0</maximum>
        <increment>1</increment>
    </total_writers>

    <max_partitions>256</max_partitions>

    <max_user_data>256</max_user_data>

    <max_properties>512</max_properties>

    <send_buffers>
        <preallocated_number>127</preallocated_number>
        <dynamic>true</dynamic>
        <network_buffers_config>
            <initial>16</initial>
            <maximum>0</maximum>
            <increment>16</increment>
        </network_buffers_config>
    </send_buffers>

    <!-- content_filter cannot be configured using XML (yet) -->
</allocation>
<!--><-->
</rtps>
</participant>

<participant profile_name="part_builtin_example">
<rtps>
<!-->XML-BUILTIN<-->
<builtin>
    <discovery_config>
        <discoveryProtocol>CLIENT</discoveryProtocol>

        <discoveryServersList>
            <locator>
                <udpv4>
                    <address>192.168.10.57</address>
                    <port>56542</port>
                </udpv4>
            </locator>
            <locator>
                <udpv4>
                    <address>192.168.10.58</address>
                    <port>24565</port>
                </udpv4>
            </locator>
        </discoveryServersList>

        <ignoreParticipantFlags>FILTER_DIFFERENT_HOST</ignoreParticipantFlags>

        <EDP>SIMPLE</EDP>

        <simpleEDP>
            <PUBWRITER_SUBREADER>true</PUBWRITER_SUBREADER>
            <PUBREADER_SUBWRITER>true</PUBREADER_SUBWRITER>
        </simpleEDP>

        <leaseDuration>
            <!-- DURATION -->
            <sec>20</sec>
        </leaseDuration>

        <leaseAnnouncement>
            <!-- DURATION -->
            <sec>3</sec>
        </leaseAnnouncement>

        <initialAnnouncements>
            <!-- INITIAL_ANNOUNCEMENTS -->
            <count>10</count>
            <period>
                <nanosec>50</nanosec>
            </period>
        </initialAnnouncements>

        <clientAnnouncementPeriod>
            <nanosec>250000000</nanosec>
        </clientAnnouncementPeriod>

        <static_edp_xml_config>file://filename1.xml</static_edp_xml_config>
        <static_edp_xml_config>file://filename2.xml</static_edp_xml_config>
        <static_edp_xml_config>file://filename3.xml</static_edp_xml_config>
    </discovery_config>

    <avoid_builtin_multicast>true</avoid_builtin_multicast>

    <use_WriterLivelinessProtocol>false</use_WriterLivelinessProtocol>

    <metatrafficUnicastLocatorList>
        <!-- LOCATOR_LIST -->
        <locator>
            <udpv4>
                <address>192.168.0.1</address>
            </udpv4>
        </locator>
    </metatrafficUnicastLocatorList>

    <metatrafficMulticastLocatorList>
        <!-- LOCATOR_LIST -->
        <locator>
            <udpv4>
                <address>192.168.0.1</address>
            </udpv4>
        </locator>
    </metatrafficMulticastLocatorList>

    <initialPeersList>
        <!-- LOCATOR_LIST -->
        <locator>
            <udpv4>
                <address>192.168.0.1</address>
            </udpv4>
        </locator>
    </initialPeersList>

    <metatraffic_external_unicast_locators>
        <!-- EXTERNAL_LOCATOR_LIST -->
        <udpv4 externality="1" cost="0" mask="24">
            <address>100.100.100.10</address>
            <port>34567</port>
        </udpv4>
    </metatraffic_external_unicast_locators>

    <readerHistoryMemoryPolicy>PREALLOCATED_WITH_REALLOC</readerHistoryMemoryPolicy>

    <writerHistoryMemoryPolicy>PREALLOCATED_WITH_REALLOC</writerHistoryMemoryPolicy>

    <readerPayloadSize>512</readerPayloadSize>

    <writerPayloadSize>512</writerPayloadSize>

    <mutation_tries>55</mutation_tries>

</builtin>
<!--><-->
</rtps>
</participant>

<!-->XML-DATAWRITER<-->
<!-->
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
<-->
        <data_writer profile_name="datawriter_profile_name">
            <topic>
                <historyQos>
                    <kind>KEEP_LAST</kind>
                </historyQos>
            </topic>

            <qos>
                <!-- QOS -->
            </qos>

            <times> <!-- writerTimesType -->
                <initial_heartbeat_delay>
                    <nanosec>12</nanosec>
                </initial_heartbeat_delay>

                <heartbeat_period>
                    <sec>3</sec>
                </heartbeat_period>

                <nack_response_delay>
                    <nanosec>5</nanosec>
                </nack_response_delay>

                <nack_supression_duration>
                    <sec>0</sec>
                </nack_supression_duration>
            </times>

            <unicastLocatorList>
                <!-- LOCATOR_LIST -->
                <locator>
                    <udpv4>
                        <address>192.168.0.1</address>
                    </udpv4>
                </locator>
            </unicastLocatorList>

            <multicastLocatorList>
                <!-- LOCATOR_LIST -->
                <locator>
                    <udpv4>
                        <address>192.168.0.1</address>
                    </udpv4>
                </locator>
            </multicastLocatorList>

            <external_unicast_locators>
                <!-- EXTERNAL_LOCATOR_LIST -->
                <udpv4 externality="1" cost="0" mask="24">
                    <address>100.100.100.10</address>
                    <port>12345</port>
                </udpv4>
            </external_unicast_locators>

            <ignore_non_matching_locators>true</ignore_non_matching_locators>

            <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>

            <!-- PROPERTIES_POLICY -->
            <propertiesPolicy>
                <properties>
                    <property>
                        <name>PropertyName</name>
                        <value>PropertyValue</value>
                    </property>
                </properties>
            </propertiesPolicy>

            <userDefinedID>55</userDefinedID>

            <entityID>66</entityID>

            <matchedSubscribersAllocation>
                <initial>0</initial>
                <maximum>0</maximum>
                <increment>1</increment>
            </matchedSubscribersAllocation>

            <!-- reader_filters_allocation cannot be configured using XML (yet) -->
        </data_writer>
<!-->
    </profiles>
</dds>
<-->
<!--><-->
<!-->XML-SUBSCRIBER<-->
<!-->
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
<-->
        <data_reader profile_name="data_reader_profile_name">
            <topic>
                <historyQos>
                    <kind>KEEP_LAST</kind>
                </historyQos>
            </topic>

            <qos>
                <!-- QOS -->
            </qos>

            <times> <!-- readerTimesType -->
                <initial_acknack_delay>
                    <nanosec>70</nanosec>
                </initial_acknack_delay>

                <heartbeat_response_delay>
                    <nanosec>5</nanosec>
                </heartbeat_response_delay>
            </times>

            <unicastLocatorList>
                <!-- LOCATOR_LIST -->
                <locator>
                    <udpv4>
                        <address>192.168.0.1</address>
                    </udpv4>
                </locator>
            </unicastLocatorList>

            <multicastLocatorList>
                <!-- LOCATOR_LIST -->
                <locator>
                    <udpv4>
                        <address>192.168.0.1</address>
                    </udpv4>
                </locator>
            </multicastLocatorList>

            <external_unicast_locators>
                <!-- EXTERNAL_LOCATOR_LIST -->
                <udpv4 externality="1" cost="0" mask="24">
                    <address>100.100.100.10</address>
                    <port>12345</port>
                </udpv4>
            </external_unicast_locators>

            <ignore_non_matching_locators>true</ignore_non_matching_locators>

            <expects_inline_qos>true</expects_inline_qos>

            <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>

            <!-- PROPERTIES_POLICY -->
            <propertiesPolicy>
                <properties>
                    <property>
                        <name>PropertyName</name>
                        <value>PropertyValue</value>
                    </property>
                </properties>
            </propertiesPolicy>

            <userDefinedID>55</userDefinedID>

            <entityID>66</entityID>

            <matchedPublishersAllocation>
                <initial>0</initial>
                <maximum>0</maximum>
                <increment>1</increment>
            </matchedPublishersAllocation>
        </data_reader>
<!-->
    </profiles>
</dds>
<-->
<!--><-->

<participant profile_name="part_locator_list">
<rtps>
<!-->XML-LOCATOR-LIST<-->
<defaultUnicastLocatorList>
    <locator>
        <udpv4>
            <!-- Access as physical, typical UDP usage -->
            <port>7400</port>
            <address>192.168.1.41</address>
        </udpv4>
        <udpv4>
            <!-- Access as physical, typical UDP usage -->
            <port>7600</port>
            <address>localhost</address>
        </udpv4>
    </locator>
    <locator>
        <tcpv4>
            <!-- Both physical and logical (port), useful in TCP transports -->
            <physical_port>5100</physical_port>
            <port>7400</port>
            <unique_lan_id>192.168.1.1.1.1.2.55</unique_lan_id>
            <wan_address>80.80.99.45</wan_address>
            <address>192.168.1.55</address>
        </tcpv4>
    </locator>
    <locator>
        <udpv6>
            <port>8844</port>
            <address>::1</address>
        </udpv6>
        <udpv6>
            <port>8888</port>
            <address>localhost</address>
        </udpv6>
    </locator>
    <locator>
        <tcpv6>
            <!-- Both physical and logical (port), useful in TCP transports -->
            <physical_port>5100</physical_port>
            <port>7400</port>
            <address>fe80::55e3:290:165:5af8</address>
        </tcpv6>
    </locator>
</defaultUnicastLocatorList>
<!--><-->
<!-->XML-EXTERNAL-LOCATOR-LIST<-->
<default_external_unicast_locators>
    <udpv4 externality="1" cost="0" mask="24">
        <address>100.100.100.10</address>
        <port>23456</port>
    </udpv4>
    <udpv6 externality="2" cost="0" mask="48">
        <address>::1</address>
        <port>1234</port>
    </udpv6>
</default_external_unicast_locators>
<!--><-->
</rtps>
</participant>

<participant profile_name="part_properties_policy">
<rtps>
<!-->XML-PROPERTIES-POLICY<-->
<propertiesPolicy>
    <properties>
        <property>
            <name>Property1Name</name>
            <value>Property1Value</value>
            <propagate>false</propagate>
        </property>
        <property>
            <name>Property2Name</name>
            <value>Property2Value</value>
            <propagate>true</propagate>
        </property>
    </properties>
</propertiesPolicy>
<!--><-->
</rtps>
</participant>


<participant profile_name="part_duration_examples">
<rtps>
<builtin>
<!-->XML-DURATION<-->
<discovery_config>
    <leaseDuration>
        <sec>DURATION_INFINITY</sec>
    </leaseDuration>
    <leaseAnnouncement>
        <sec>1</sec>
        <nanosec>856000</nanosec>
    </leaseAnnouncement>
</discovery_config>
<!--><-->
</builtin>
</rtps>
</participant>

<!-->XML-TOPIC<-->
<data_writer profile_name="dataWriter_topic_example">
    <topic>
        <historyQos>
            <kind>KEEP_LAST</kind>
            <depth>20</depth>
        </historyQos>
        <resourceLimitsQos>
            <max_samples>5</max_samples>
            <max_instances>2</max_instances>
            <max_samples_per_instance>1</max_samples_per_instance>
            <allocated_samples>20</allocated_samples>
            <extra_samples>10</extra_samples>
        </resourceLimitsQos>
    </topic>
</data_writer>
<!--><-->

<!-->XML-TOPIC-PROFILE<-->
<topic profile_name="topic_example">
    <historyQos>
        <kind>KEEP_LAST</kind>
        <depth>20</depth>
    </historyQos>
    <resourceLimitsQos>
        <max_samples>5</max_samples>
        <max_instances>2</max_instances>
        <max_samples_per_instance>1</max_samples_per_instance>
        <allocated_samples>20</allocated_samples>
        <extra_samples>10</extra_samples>
    </resourceLimitsQos>
</topic>
<!--><-->

<!-->XML-QOS<-->
<data_writer profile_name="pub_topic_qos">
<qos> <!-- writerQosPoliciesType -->
    <data_sharing>
        <kind>AUTOMATIC</kind>
        <shared_dir>/home</shared_dir>
        <max_domains>10</max_domains>
        <domain_ids>
            <domainId>0</domainId>
            <domainId>11</domainId>
        </domain_ids>
    </data_sharing>

    <deadline>
        <period>
            <sec>1</sec>
        </period>
    </deadline>

    <!-- DataWriter specific QoS -->
    <disable_heartbeat_piggyback>true</disable_heartbeat_piggyback>

    <disablePositiveAcks>
        <enabled>true</enabled>
        <duration>
            <sec>1</sec>
        </duration>
    </disablePositiveAcks>

    <durability>
        <kind>VOLATILE</kind>
    </durability>

    <groupData>
        <value>1.a.2</value>
    </groupData>

    <!-- QoS policy pending implementation -->
    <latencyBudget>
        <duration>
            <sec>1</sec>
        </duration>
    </latencyBudget>

    <lifespan>
        <duration>
            <sec>1</sec>
        </duration>
    </lifespan>

    <liveliness>
        <kind>AUTOMATIC</kind>

        <lease_duration>
            <sec>1</sec>
        </lease_duration>

        <announcement_period>
            <sec>1</sec>
        </announcement_period>
    </liveliness>

    <ownership>
        <kind>EXCLUSIVE</kind>
    </ownership>

    <!-- DataWriter specific QoS -->
    <ownershipStrength>
        <value>50</value>
    </ownershipStrength>

    <transport_priority>12</transport_priority>

    <partition>
        <names>
            <name>part1</name>
            <name>part2</name>
        </names>
    </partition>

    <!-- DataWriter specific QoS -->
    <publishMode>
        <kind>ASYNCHRONOUS</kind>
    </publishMode>

    <reliability>
        <kind>BEST_EFFORT</kind>
        <max_blocking_time>
            <sec>1</sec>
        </max_blocking_time>
    </reliability>

    <topicData>
        <value>2.b.1</value>
    </topicData>

    <userData>
        <value>3.c.0</value>
    </userData>
</qos>
<!--><-->
</data_writer>

<data_writer profile_name="pub_durabilityservice">
<qos>
<!-->XML-DURABILITYSERVICE<-->
<!--
<durabilityService>
    <service_cleanup_delay>
        <!- DURATION
    </service_cleanup_delay>
    <history_kind>KEEP_LAST</history_kind> <!- string
    <history_depth></history_depth> <!- unint32
    <max_samples></max_samples> <!- unint32
    <max_instances></max_instances> <!- unint32
    <max_samples_per_instance></max_samples_per_instance> <!- unint32
</durabilityService>
-->
<!--><-->
</qos>
</data_writer>

<!-->CONF-HISTORYMEMORYPOLICY-EXAMPLE<-->
    <data_writer profile_name="data_writer_historyMemoryPolicy">
        <!-- ...  -->
        <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
    </data_writer>

    <data_reader profile_name="data_reader_historyMemoryPolicy">
        <!-- ...  -->
        <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
    </data_reader>
<!--><-->

<!-->CONF-ALLOCATION-QOS-PARTICIPANTS<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_profile_qos_entity_resource_limit">
        <rtps>
            <allocation>
                <!-- Limit to 3 participants -->
                <total_participants>
                    <initial>3</initial>
                    <maximum>3</maximum>
                    <increment>0</increment>
                </total_participants>

                <!-- Limit to 3 readers per participant -->
                <total_readers>
                    <initial>3</initial>
                    <maximum>3</maximum>
                    <increment>0</increment>
                </total_readers>

                <!-- Limit to 1 writer per participant -->
                <total_writers>
                    <initial>1</initial>
                    <maximum>1</maximum>
                    <increment>0</increment>
                </total_writers>
            </allocation>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-ALLOCATION-QOS-PARAMETERS<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_profile_qos_parameter_resource_limit">
        <rtps>
            <allocation>
                <max_partitions>256</max_partitions>
                <max_user_data>256</max_user_data>
                <max_properties>512</max_properties>

                <!-- content_filter cannot be configured using XML (yet) -->
            </allocation>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-ALLOCATION-QOS-WRITER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <data_writer profile_name="writer_profile_qos_resource_limit">
        <!-- Limit to 3 matching readers -->
        <matchedSubscribersAllocation>
            <initial>3</initial>
            <maximum>3</maximum>
            <increment>0</increment>
        </matchedSubscribersAllocation>

        <!-- reader_filters_allocation cannot be configured using XML (yet) -->
    </data_writer>
<!--><-->

<!-->CONF-ALLOCATION-QOS-READER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <data_reader profile_name="reader_profile_qos_resource_limit">
        <!-- Limit to 1 matching writer -->
        <matchedPublishersAllocation>
            <initial>1</initial>
            <maximum>1</maximum>
            <increment>0</increment>
        </matchedPublishersAllocation>
    </data_reader>
<!--><-->

<!-->CONF-ALLOCATION-QOS-EXAMPLE<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_alloc_qos_example">
        <rtps>
            <allocation>
                <!-- We know we have 3 participants on the domain -->
                <total_participants>
                    <initial>3</initial>
                    <maximum>3</maximum>
                    <increment>0</increment>
                </total_participants>
                <!-- We know we have at most 2 readers on each participant -->
                <total_readers>
                    <initial>2</initial>
                    <maximum>2</maximum>
                    <increment>0</increment>
                </total_readers>
                <!-- We know we have at most 1 writer on each participant -->
                <total_writers>
                    <initial>1</initial>
                    <maximum>1</maximum>
                    <increment>0</increment>
                </total_writers>
                <max_partitions>256</max_partitions>
                <max_user_data>256</max_user_data>
                <max_properties>512</max_properties>

                <!-- content_filter cannot be configured using XML (yet) -->
            </allocation>
        </rtps>
    </participant>

    <data_writer profile_name="allocation_qos_example_pub_for_topic_1">
        <!-- we know we will have three matching subscribers and no content filter -->
        <matchedSubscribersAllocation>
            <initial>3</initial>
            <maximum>3</maximum>
            <increment>0</increment>
        </matchedSubscribersAllocation>

        <!-- reader_filters_allocation cannot be configured using XML (yet) -->
    </data_writer>

    <data_writer profile_name="allocation_qos_example_pub_for_topic_2">
        <!-- we know we will have two matching subscribers and no content filter -->
        <matchedSubscribersAllocation>
            <initial>2</initial>
            <maximum>2</maximum>
            <increment>0</increment>
        </matchedSubscribersAllocation>

        <!-- reader_filters_allocation cannot be configured using XML (yet) -->
    </data_writer>

    <data_reader profile_name="allocation_qos_example_sub">
        <!-- we know we will only have one matching publisher -->
        <matchedPublishersAllocation>
            <initial>1</initial>
            <maximum>1</maximum>
            <increment>0</increment>
        </matchedPublishersAllocation>
    </data_reader>
<!--><-->

<!-->CONF-MEMORY-QOS-PUBSUB<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <data_writer profile_name="data_writer_min_samples">
        <topic>
            <historyQos>
                <kind>KEEP_LAST</kind>
                <depth>1</depth>
            </historyQos>
            <resourceLimitsQos>
                <max_samples>1</max_samples>
                <max_instances>1</max_instances>
                <max_samples_per_instance>1</max_samples_per_instance>
                <allocated_samples>0</allocated_samples>
            </resourceLimitsQos>
        </topic>
    </data_writer>

    <data_reader profile_name="data_reader_min_samples">
        <topic>
            <historyQos>
                <kind>KEEP_LAST</kind>
                <depth>1</depth>
            </historyQos>
            <resourceLimitsQos>
                <max_samples>1</max_samples>
                <max_instances>1</max_instances>
                <max_samples_per_instance>1</max_samples_per_instance>
                <allocated_samples>0</allocated_samples>
            </resourceLimitsQos>
        </topic>
    </data_reader>
<!--><-->

<!-->CONF-MEMORY-QOS-ENDPOINTS<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <data_writer profile_name="data_writer_low_memory">
        <!-- ...  -->
        <historyMemoryPolicy>DYNAMIC_REUSABLE</historyMemoryPolicy>
    </data_writer>

    <data_reader profile_name="data_reader_low_memory">
        <!-- ...  -->
        <historyMemoryPolicy>DYNAMIC_REUSABLE</historyMemoryPolicy>
    </data_reader>
<!--><-->


<!-->CONF_INITIAL_PEERS_BASIC<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="initial_peers_example_profile" is_default_profile="true">
        <rtps>
            <builtin>
                <initialPeersList>
                    <locator>
                        <udpv4>
                            <address>192.168.10.13</address>
                            <port>7412</port>
                        </udpv4>
                    </locator>
                </initialPeersList>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF_INITIAL_PEERS_METAUNICAST<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="initial_peers_multicast_avoidance" is_default_profile="true" >
        <rtps>
            <builtin>
                <!-- Choosing a specific unicast address -->
                <metatrafficUnicastLocatorList>
                    <locator>
                        <udpv4>
                            <address>192.168.10.13</address>
                            <port>7412</port>
                        </udpv4>
                    </locator>
                </metatrafficUnicastLocatorList>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF_DS_MAIN_SCENARIO_SERVER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="UDP SERVER" is_default_profile="true">
        <rtps>
            <builtin>
                <discovery_config>
                    <discoveryProtocol>SERVER</discoveryProtocol>
                </discovery_config>
                <metatrafficUnicastLocatorList>
                    <locator>
                        <udpv4>
                            <address>192.168.10.57</address>
                            <port>56542</port>
                        </udpv4>
                    </locator>
                </metatrafficUnicastLocatorList>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF_DS_MAIN_SCENARIO_CLIENT<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="UDP CLIENT" is_default_profile="true">
        <rtps>
            <builtin>
                <discovery_config>
                    <discoveryProtocol>CLIENT</discoveryProtocol>
                    <discoveryServersList>
                        <locator>
                            <udpv4>
                                <address>192.168.10.57</address>
                                <port>56542</port>
                            </udpv4>
                        </locator>
                    </discoveryServersList>
                </discovery_config>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF_DS_RDNCY_SCENARIO_SERVER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="UDP SERVER 1">
        <rtps>
            <!-- Optional GUID -->
            <prefix>75.63.2D.73.76.72.63.6C.6E.74.2D.31</prefix>
            <builtin>
                <discovery_config>
                    <discoveryProtocol>SERVER</discoveryProtocol>
                </discovery_config>
                <metatrafficUnicastLocatorList>
                    <locator>
                        <udpv4>
                            <address>192.168.10.57</address>
                            <port>56542</port>
                        </udpv4>
                    </locator>
                </metatrafficUnicastLocatorList>
            </builtin>
        </rtps>
    </participant>

    <participant profile_name="UDP SERVER 2">
        <rtps>
            <!-- Optional GUID -->
            <prefix>75.63.2D.73.76.72.63.6C.6E.74.2D.32</prefix>
            <builtin>
                <discovery_config>
                    <discoveryProtocol>SERVER</discoveryProtocol>
                </discovery_config>
                <metatrafficUnicastLocatorList>
                    <locator>
                        <udpv4>
                            <address>192.168.10.60</address>
                            <port>56543</port>
                        </udpv4>
                    </locator>
                </metatrafficUnicastLocatorList>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF_DS_RDNCY_SCENARIO_CLIENT<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="UDP CLIENT REDUNDANCY">
        <rtps>
            <builtin>
                <discovery_config>
                    <discoveryProtocol>CLIENT</discoveryProtocol>
                    <discoveryServersList>
                        <locator>
                            <udpv4>
                                <address>192.168.10.57</address>
                                <port>56542</port>
                            </udpv4>
                        </locator>
                        <locator>
                            <udpv4>
                                <address>192.168.10.60</address>
                                <port>56543</port>
                            </udpv4>
                        </locator>
                    </discoveryServersList>
                </discovery_config>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF_DS_PARTITION_2<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="UDP SERVER A">
        <rtps>
            <!-- Optional GUID -->
            <prefix>75.63.2D.73.76.72.63.6C.6E.74.2D.31</prefix>
            <builtin>
                <discovery_config>
                    <discoveryProtocol>SERVER</discoveryProtocol>
                    <discoveryServersList>
                        <locator>
                            <udpv4>
                                <address>192.168.10.57</address>
                                <port>56542</port>
                            </udpv4>
                        </locator>
                    </discoveryServersList>
                </discovery_config>
                <metatrafficUnicastLocatorList>
                    <locator>
                        <udpv4>
                            <address>192.168.10.60</address>
                            <port>56543</port>
                        </udpv4>
                    </locator>
                </metatrafficUnicastLocatorList>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF_DS_PARTITION_3<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="UDP SERVER C">
        <rtps>
            <!-- Optional GUID -->
            <prefix>75.63.2D.73.76.72.63.6C.6E.74.2D.33</prefix>
            <builtin>
                <discovery_config>
                    <discoveryProtocol>SERVER</discoveryProtocol>
                    <discoveryServersList>
                        <locator>
                            <udpv4>
                                <address>192.168.10.57</address>
                                <port>56542</port>
                            </udpv4>
                        </locator>
                        <locator>
                            <udpv4>
                                <address>192.168.10.60</address>
                                <port>56543</port>
                            </udpv4>
                        </locator>
                    </discoveryServersList>
                </discovery_config>
                <metatrafficUnicastLocatorList>
                    <locator>
                        <udpv4>
                            <address>192.168.10.54</address>
                            <port>56541</port>
                        </udpv4>
                    </locator>
                </metatrafficUnicastLocatorList>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->STATIC_DISCOVERY_USE_CASE_PUB<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_profile_static_pub">
        <rtps>
            <name>HelloWorldPublisher</name>
            <builtin>
                <discovery_config>
                    <EDP>STATIC</EDP>
                    <static_edp_xml_config>file://HelloWorldSubscriber.xml</static_edp_xml_config>
                </discovery_config>
            </builtin>
        </rtps>
    </participant>

    <data_writer profile_name="uc_publisher_xml_conf_static_discovery">
        <userDefinedID>1</userDefinedID>
        <entityID>2</entityID>
    </data_writer>
<!--><-->

<!-->STATIC_DISCOVERY_USE_CASE_SUB<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_profile_static_sub">
        <rtps>
            <name>HelloWorldSubscriber</name>
            <builtin>
                <discovery_config>
                    <static_edp_xml_config>file://HelloWorldPublisher.xml</static_edp_xml_config>
                </discovery_config>
            </builtin>
        </rtps>
    </participant>

    <data_reader profile_name="uc_subscriber_xml_conf_static_discovery">
        <userDefinedID>3</userDefinedID>
        <entityID>4</entityID>
    </data_reader>
<!--><-->

<!-->CONF_ROS2_EXAMPLE<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_profile_ros2" is_default_profile="true">
        <rtps>
            <name>profile_for_ros2_context</name>
        </rtps>
    </participant>

    <!-- Default publisher profile -->
    <data_writer profile_name="default publisher profile" is_default_profile="true">
        <qos>
            <publishMode>
                <kind>SYNCHRONOUS</kind>
            </publishMode>
        </qos>
        <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
    </data_writer>

    <!-- Default subscriber profile -->
    <data_reader profile_name="default subscriber profile" is_default_profile="true">
        <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
    </data_reader>

    <!-- Publisher profile for topic helloworld -->
    <data_writer profile_name="helloworld">
        <qos>
            <publishMode>
                <kind>SYNCHRONOUS</kind>
            </publishMode>
        </qos>
    </data_writer>

    <!-- Request subscriber profile for services -->
    <data_reader profile_name="service">
        <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
    </data_reader>

    <!-- Request publisher profile for clients -->
    <data_writer profile_name="client">
        <qos>
            <publishMode>
                <kind>ASYNCHRONOUS</kind>
            </publishMode>
        </qos>
    </data_writer>

    <!-- Request subscriber profile for server of service "add_two_ints" -->
    <data_reader profile_name="rq/add_two_intsRequest">
        <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
    </data_reader>

    <!-- Reply subscriber profile for client of service "add_two_ints" -->
    <data_reader profile_name="rr/add_two_intsReply">
        <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
    </data_reader>
<!--><-->

<!-->CONF-DISCOVERY-PROTOCOL<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <participant profile_name="participant_discovery_protocol">
            <rtps>
                <builtin>
                    <discovery_config>
                        <discoveryProtocol>SIMPLE</discoveryProtocol>
                    </discovery_config>
                </builtin>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->CONF-DISCOVERY-IGNORE-FLAGS<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <participant profile_name="participant_discovery_ignore_flags">
            <rtps>
                <builtin>
                    <discovery_config>
                        <ignoreParticipantFlags>FILTER_DIFFERENT_PROCESS | FILTER_SAME_PROCESS</ignoreParticipantFlags>
                    </discovery_config>
                </builtin>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->CONF-DISCOVERY-LEASE-DURATION<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <participant profile_name="participant_discovery_lease_duration">
            <rtps>
                <builtin>
                    <discovery_config>
                        <leaseDuration>
                            <sec>10</sec>
                            <nanosec>20</nanosec>
                        </leaseDuration>
                    </discovery_config>
                </builtin>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->CONF-DISCOVERY-LEASE-ANNOUNCEMENT<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <participant profile_name="participant_discovery_lease_announcement">
            <rtps>
                <builtin>
                    <discovery_config>
                        <leaseAnnouncement>
                            <sec>1</sec>
                            <nanosec>2</nanosec>
                        </leaseAnnouncement>
                    </discovery_config>
                </builtin>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->DISCOVERY-CONFIG-INITIAL-ANNOUNCEMENT<-->
<participant profile_name="participant_profile_simple_discovery">
    <rtps>
        <builtin>
            <discovery_config>
                <initialAnnouncements>
                    <count>5</count>
                    <period>
                        <nanosec>100000000</nanosec>
                    </period>
                </initialAnnouncements>
            </discovery_config>
        </builtin>
    </rtps>
</participant>
<!--><-->

<!-->CONF_STATIC_DISCOVERY_CODE<-->
<participant profile_name="participant_profile_static_edp">
    <rtps>
        <builtin>
            <discovery_config>
                <EDP>STATIC</EDP>
            </discovery_config>
        </builtin>
    </rtps>
</participant>
<!--><-->

<!-->CONF_STATIC_DISCOVERY_XML_FILE<-->
<participant profile_name="participant_profile_static_load_xml">
    <rtps>
        <builtin>
            <discovery_config>
                <static_edp_xml_config>file://RemotePublisher.xml</static_edp_xml_config>
                <static_edp_xml_config>file://RemoteSubscriber.xml</static_edp_xml_config>
            </discovery_config>
        </builtin>
    </rtps>
</participant>
<!--><-->

<!-->CONF-SERVER-SERVER-PREFIX<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_server_guidprefix" >
        <rtps>
            <prefix>44.53.00.5f.45.50.52.4f.53.49.4d.41</prefix>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-GUID-PREFIX<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_guidprefix" >
        <rtps>
            <prefix>77.73.71.85.69.76.95.66.65.82.82.79</prefix>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-SERVER-SERVER-LOCATORS<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_profile_discovery_server_server_metatraffic">
       <rtps>
            <builtin>
                <metatrafficUnicastLocatorList>
                    <locator>
                        <udpv4>
                           <!-- placeholder server UDP address -->
                            <address>192.168.1.113</address>
                            <port>64863</port>
                        </udpv4>
                    </locator>
                </metatrafficUnicastLocatorList>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-SERVER-CLIENT-LOCATORS<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_profile_discovery_server_client_metatraffic">
       <rtps>
            <builtin>
                <discovery_config>
                    <discoveryServersList>
                        <locator>
                            <udpv4>
                                <!-- placeholder server UDP address -->
                                <address>192.168.1.113</address>
                                <port>64863</port>
                            </udpv4>
                        </locator>
                    </discoveryServersList>
                </discovery_config>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-SERVER-DISCOVERY-PROTOCOL<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_discovery_protocol_alt" >
        <rtps>
            <builtin>
                <discovery_config>
                    <discoveryProtocol>CLIENT</discoveryProtocol>
                    <!-- alternatives
                    <discoveryProtocol>SERVER</discoveryProtocol>
                    <discoveryProtocol>SUPER_CLIENT</discoveryProtocol>
                    <discoveryProtocol>BACKUP</discoveryProtocol>
                    -->
                    </discovery_config>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF-SERVER-CLIENT-PING<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_profile_ping" >
        <rtps>
            <builtin>
                <discovery_config>
                    <clientAnnouncementPeriod>
                        <!-- change default to 250 ms -->
                        <nanosec>250000000</nanosec>
                    </clientAnnouncementPeriod>
                </discovery_config>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<participant profile_name="part_ds_dns_locators">
    <rtps>
        <builtin>
            <discovery_config>
                <discoveryServersList>
                    <!-->CONF_SERVER_DNS_LOCATORS<-->
                    <locator>
                        <udpv4>
                            <port>11811</port>
                            <address>localhost</address>
                        </udpv4>
                    </locator>
                    <!--><-->
                </discoveryServersList>
            </discovery_config>
        </builtin>
    </rtps>
</participant>

<!-->CONF_SERVER_FULL_EXAMPLE<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_profile_server_full_example">
        <rtps>
            <builtin>
                <!-- Set participant as SERVER -->
                <discovery_config>
                    <discoveryProtocol>SERVER</discoveryProtocol>
                    <!--
                        Set a list of remote servers (locators) to which this
                        server connects.
                    -->
                    <discoveryServersList>
                        <!-- Set REMOTE SERVER's listening locator for PDP -->
                        <locator>
                            <udpv4>
                                <address>127.0.0.1</address>
                                <port>11812</port>
                            </udpv4>
                        </locator>
                    </discoveryServersList>
                </discovery_config>
                <!-- Set OWN SERVER's listening locator for PDP -->
                <metatrafficUnicastLocatorList>
                    <locator>
                        <udpv4>
                            <address>127.0.0.1</address>
                            <port>11811</port>
                        </udpv4>
                    </locator>
                </metatrafficUnicastLocatorList>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->CONF_CLIENT_FULL_EXAMPLE<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <participant profile_name="participant_profile_client_full_example">
        <rtps>
            <builtin>
                <discovery_config>
                    <!-- Set participant as CLIENT -->
                    <discoveryProtocol>CLIENT</discoveryProtocol>
                    <!--
                        Set a list of remote servers (locators) to which this
                        client connects.
                    -->
                    <discoveryServersList>
                        <!-- Set REMOTE SERVER's listening locator for PDP -->
                        <locator>
                            <udpv4>
                                <address>127.0.0.1</address>
                                <port>11811</port>
                            </udpv4>
                        </locator>
                    </discoveryServersList>
                    <!-- Set ping period to 250 ms -->
                    <clientAnnouncementPeriod>
                        <nanosec>250000000</nanosec>
                    </clientAnnouncementPeriod>
                </discovery_config>
            </builtin>
        </rtps>
    </participant>
<!--><-->

<!-->DDS_SECURITY_AUTH_PLUGIN<-->
<participant profile_name="secure_domainparticipant_conf_auth_plugin_xml_profile">
    <rtps>
        <propertiesPolicy>
            <properties>
                <!-- Activate DDS:Auth:PKI-DH plugin -->
                <property>
                    <name>dds.sec.auth.plugin</name>
                    <value>builtin.PKI-DH</value>
                </property>
                <!-- Configure DDS:Auth:PKI-DH plugin -->
                <property>
                    <name>dds.sec.auth.builtin.PKI-DH.identity_ca</name>
                    <value>file://maincacert.pem</value>
                </property>
                <property>
                    <name>dds.sec.auth.builtin.PKI-DH.identity_certificate</name>
                    <value>file://partcert.pem</value>
                </property>
                <property>
                    <name>dds.sec.auth.builtin.PKI-DH.identity_crl</name>
                    <value>file://crl.pem</value>
                </property>
                <property>
                    <name>dds.sec.auth.builtin.PKI-DH.private_key</name>
                    <value>file://partkey.pem</value>
                </property>
                <property>
                    <name>dds.sec.auth.builtin.PKI-DH.password</name>
                    <value>domainParticipantPassword</value>
                </property>
                <property>
                    <name>dds.sec.auth.builtin.PKI-DH.preferred_key_agreement</name>
                    <value>ECDH</value>
                </property>
                <property>
                    <name>dds.sec.auth.builtin.PKI-DH.transmit_algorithms_as_legacy</name>
                    <value>true</value>
                </property>
            </properties>
        </propertiesPolicy>
    </rtps>
</participant>
<!--><-->

<!-->DDS_SECURITY_AUTH_HANDSHAKE_PROPS<-->
<participant profile_name="secure_domainparticipant_conf_auth_handshake_props_xml_profile">
    <rtps>
        <propertiesPolicy>
            <properties>
                <property>
                    <name>dds.sec.auth.builtin.PKI-DH.max_handshake_requests</name>
                    <value>5</value>
                </property>
                <property>
                    <name>dds.sec.auth.builtin.PKI-DH.initial_handshake_resend_period</name>
                    <value>250</value>
                </property>
                <property>
                    <name>dds.sec.auth.builtin.PKI-DH.handshake_resend_period_gain</name>
                    <value>1.5</value>
                </property>
            </properties>
        </propertiesPolicy>
    </rtps>
</participant>
<!--><-->

<!-->DDS_SECURITY_ACCESS_CONTROL_PLUGIN<-->
<participant profile_name="secure_domainparticipant_conf_access_control_plugin_xml_profile">
    <rtps>
        <propertiesPolicy>
            <properties>
                <!-- Activate DDS:Access:Permissions plugin -->
                <property>
                    <name>dds.sec.access.plugin</name>
                    <value>builtin.Access-Permissions</value>
                </property>
                <!-- Configure DDS:Access:Permissions plugin -->
                <property>
                    <name>dds.sec.access.builtin.Access-Permissions.permissions_ca</name>
                    <value>file://maincacet.pem</value>
                </property>
                <property>
                    <name>dds.sec.access.builtin.Access-Permissions.governance</name>
                    <value>file://governance.smime</value>
                </property>
                <property>
                    <name>dds.sec.access.builtin.Access-Permissions.permissions</name>
                    <value>file://permissions.smime</value>
                </property>
                <property>
                    <name>dds.sec.access.builtin.Access-Permissions.transmit_algorithms_as_legacy</name>
                    <value>true</value>
                </property>
            </properties>
        </propertiesPolicy>
    </rtps>
</participant>
<!--><-->

<!-->DDS_SECURITY_CRYPTO_PLUGIN_DOMAINPARTICIPANT<-->
<participant profile_name="secure_domainparticipant_conf_crypto_plugin_xml_profile">
    <rtps>
        <propertiesPolicy>
            <properties>
                <!-- Activate DDS:Crypto:AES-GCM-GMAC plugin -->
                <property>
                    <name>dds.sec.crypto.plugin</name>
                    <value>builtin.AES-GCM-GMAC</value>
                </property>
            </properties>
        </propertiesPolicy>
    </rtps>
</participant>
<!--><-->

<!-->DDS_SECURITY_LOGGING_PLUGIN<-->
<participant profile_name="secure_domainparticipant_conf_logging_plugin_xml_profile">
    <rtps>
        <propertiesPolicy>
            <properties>
                <!-- Activate DDS:Auth:PKI-DH plugin -->
                <property>
                    <name>dds.sec.log.plugin</name>
                    <value>builtin.DDS_LogTopic</value>
                </property>
                <!-- Configure DDS:Auth:PKI-DH plugin -->
                <property>
                    <name>dds.sec.log.builtin.DDS_LogTopic.logging_level</name>
                    <value>EMERGENCY_LEVEL</value>
                </property>
                <property>
                    <name>dds.sec.log.builtin.DDS_LogTopic.log_file</name>
                    <value>myLogFile.log</value>
                </property>
            </properties>
        </propertiesPolicy>
    </rtps>
</participant>
<!--><-->

<!-->DDS_MONITOR_SERVICE<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
<participant profile_name="monitor_service_participant_xml_profile">
    <rtps>
        <propertiesPolicy>
            <properties>
                <!-- Enable Monitor Service -->
                <property>
                    <name>fastdds.enable_monitor_service</name>
                    <value>true</value>
                </property>
                <!-- Include Monitor Service in the Fast DDS Statistics (other way to enable it) -->
                <property>
                    <name>fastdds.statistics</name>
                    <value>MONITOR_SERVICE_TOPIC</value>
                </property>
            </properties>
        </propertiesPolicy>
    </rtps>
</participant>
<!--><-->

<!-->PULL_MODE_DATAWRITER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
<data_writer profile_name="pull_mode_datawriter_xml_profile">
    <propertiesPolicy>
        <properties>
            <!-- Enable pull mode -->
            <property>
                <name>fastdds.push_mode</name>
                <value>false</value>
            </property>
        </properties>
    </propertiesPolicy>
</data_writer>
<!--><-->

<!-->IGNORE_LOCAL_ENDPOINTS_DOMAINPARTICIPANT<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <participant profile_name="ignore_local_endpoints_domainparticipant_xml_profile">
            <rtps>
                <propertiesPolicy>
                    <properties>
                        <!-- Avoid local matching of this participant's endpoints -->
                        <property>
                            <name>fastdds.ignore_local_endpoints</name>
                            <value>true</value>
                        </property>
                    </properties>
                </propertiesPolicy>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->MAX_MESSAGE_SIZE_PROPERTY_PARTICIPANT<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
-->
<participant profile_name="max_message_size_participant_xml_profile">
    <rtps>
        <propertiesPolicy>
            <properties>
                <!-- Set the maximum size in bytes for all RTPS datagrams sent by the participant -->
                <property>
                    <name>fastdds.max_message_size</name>
                    <value>1200</value>
                </property>
            </properties>
        </propertiesPolicy>
    </rtps>
</participant>
<!--><-->

<!-->MAX_MESSAGE_SIZE_PROPERTY_WRITER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
-->
<data_writer profile_name="max_msg_size_datawriter_xml_profile">
    <propertiesPolicy>
        <properties>
            <!-- Set the maximum size in bytes for all RTPS datagrams sent by the writer -->
            <property>
                <name>fastdds.max_message_size</name>
                <value>1200</value>
            </property>
        </properties>
    </propertiesPolicy>
</data_writer>
<!--><-->

<!-->TYPE_PROPAGATION_PROPERTY<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <participant profile_name="type_propagation_domainparticipant_xml_profile">
            <rtps>
                <propertiesPolicy>
                    <properties>
                        <property>
                            <name>fastdds.type_propagation</name>
                            <value>disabled</value>
                        </property>
                    </properties>
                </propertiesPolicy>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->SERIALIZE_OPTIONAL_QOS_PROPERTY<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <participant profile_name="serialize_optional_qos_domainparticipant_xml_profile">
            <rtps>
                <propertiesPolicy>
                    <properties>
                        <property>
                            <name>fastdds.serialize_optional_qos</name>
                            <value>true</value> <!-- true, True, TRUE, 1 -->
                        </property>
                    </properties>
                </propertiesPolicy>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->DDS_SQL_LIMITS_PROPERTY<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <participant profile_name="custom_sql_limits_domainparticipant_xml_profile">
            <rtps>
                <propertiesPolicy>
                    <properties>
                        <property>
                            <name>dds.sql.expression.max_expression_length</name>
                            <value>20000</value>
                        </property>
                        <property>
                            <name>dds.sql.expression.max_subexpressions</name>
                            <value>10</value>
                        </property>
                    </properties>
                </propertiesPolicy>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->FASTDDS_STATISTICS_MODULE<-->
<participant profile_name="statistics_domainparticipant_conf_xml_profile">
    <rtps>
        <propertiesPolicy>
            <properties>
                <!-- Activate Fast DDS Statistics Module -->
                <property>
                    <name>fastdds.statistics</name>
                    <value>HISTORY_LATENCY_TOPIC;ACKNACK_COUNT_TOPIC;DISCOVERY_TOPIC;PHYSICAL_DATA_TOPIC</value>
                </property>
            </properties>
        </propertiesPolicy>
    </rtps>
</participant>
<!--><-->

<!-->FASTDDS_STATISTICS_TROUBLESHOOTING_GENERIC<-->
<!--
<?xml version="1.0" encoding="utf-8"?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <participant profile_name="statistics_domainparticipant_conf_xml_general_profile">
            <rtps>
                <propertiesPolicy>
                    <properties>
                        <!-- Activate various Fast DDS Statistics Module DataWriters -->
                        <property>
                            <name>fastdds.statistics</name>
                            <value>HISTORY_LATENCY_TOPIC;DISCOVERY_TOPIC;PHYSICAL_DATA_TOPIC</value>
                        </property>
                    </properties>
                </propertiesPolicy>
            </rtps>
        </participant>

        <!-- Generic profile for all the statistics DataWriter -->
        <data_writer profile_name="GENERIC_STATISTICS_PROFILE">
            <!-- Configure History QoS as KEEP_LAST 20 -->
            <!-- History depth depends on the user application constraints (publication rate for instance) -->
            <topic>
                <historyQos>
                    <kind>KEEP_LAST</kind>
                    <depth>20</depth>
                </historyQos>
            </topic>
            <!-- Enable pull mode -->
            <propertiesPolicy>
                <properties>
                    <property>
                        <name>fastdds.push_mode</name>
                        <value>false</value>
                    </property>
                </properties>
            </propertiesPolicy>
            <!-- Set durability, reliability, and publication mode -->
            <qos>
                <durability>
                    <kind>TRANSIENT_LOCAL</kind>
                </durability>

                <reliability>
                    <kind>RELIABLE</kind>
                </reliability>

                <publishMode>
                    <kind>ASYNCHRONOUS</kind>
                </publishMode>
            </qos>
        </data_writer>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->FASTDDS_STATISTICS_TROUBLESHOOTING_SINGLE_TOPIC<-->
<!--
<?xml version="1.0" encoding="utf-8"?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <participant profile_name="statistics_domainparticipant_conf_xml_specific_profile">
            <rtps>
                <propertiesPolicy>
                    <properties>
                        <!-- Activate various Fast DDS Statistics Module DataWriters -->
                        <property>
                            <name>fastdds.statistics</name>
                            <value>HISTORY_LATENCY_TOPIC</value>
                        </property>
                    </properties>
                </propertiesPolicy>
            </rtps>
        </participant>

        <!-- Generic profile for a specific statistics DataWriters -->
        <data_writer profile_name="HISTORY_LATENCY_TOPIC">
            <!-- Configure History QoS as KEEP_LAST 20 -->
            <!-- History depth depends on the user application constraints (publication rate for instance) -->
            <topic>
                <historyQos>
                    <kind>KEEP_LAST</kind>
                    <depth>20</depth>
                </historyQos>
            </topic>
            <!-- Enable pull mode -->
            <propertiesPolicy>
                <properties>
                    <property>
                        <name>fastdds.push_mode</name>
                        <value>false</value>
                    </property>
                </properties>
            </propertiesPolicy>
            <!-- Set durability, reliability, and publication mode -->
            <qos>
                <durability>
                    <kind>TRANSIENT_LOCAL</kind>
                </durability>

                <reliability>
                    <kind>RELIABLE</kind>
                </reliability>

                <publishMode>
                    <kind>ASYNCHRONOUS</kind>
                </publishMode>
            </qos>
        </data_writer>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->FASTDDS_PHYSICAL_PROPERTIES<-->
<!--
<?xml version="1.0" encoding="utf-8"?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <participant profile_name="statistics_participant" is_default_profile="true">
            <rtps>
                <propertiesPolicy>
                    <properties>
                        <property>
                            <name>fastdds.physical_data.host</name>
                            <value>custom_hostname</value>
                        </property>
                        <property>
                            <name>fastdds.physical_data.user</name>
                            <value>custom_username</value>
                        </property>
                        <property>
                            <name>fastdds.physical_data.process</name>
                            <value>custom_process</value>
                        </property>
                    </properties>
                </propertiesPolicy>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->


<!-->CONF-PERSISTENCE-SERVICE-SQLITE3-EXAMPLE<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <!-- DomainParticipant configuration -->
        <participant profile_name="persistence_service_participant">
            <rtps>
                <propertiesPolicy>
                    <properties>
                        <!-- Select persistence plugin -->
                        <property>
                            <name>dds.persistence.plugin</name>
                            <value>builtin.SQLITE3</value>
                        </property>
                        <!-- Database file name -->
                        <property>
                            <name>dds.persistence.sqlite3.filename</name>
                            <value>persistence_service.db</value>
                        </property>
                    </properties>
                </propertiesPolicy>
            </rtps>
        </participant>

        <!-- DataWriter configuration -->
        <data_writer profile_name="persistence_service_data_writer">
            <qos>
                <!-- Set durability to TRANSIENT_DURABILITY_QOS -->
                <durability>
                    <kind>TRANSIENT</kind>
                </durability>
            </qos>
            <propertiesPolicy>
                <properties>
                    <!-- Persistence GUID -->
                    <property>
                        <name>dds.persistence.guid</name>
                        <value>77.72.69.74.65.72.5f.70.65.72.73.5f|67.75.69.64</value>
                    </property>
                </properties>
            </propertiesPolicy>
        </data_writer>

        <data_reader profile_name="persistence_service_data_reader">
            <qos>
                <!-- Set durability to TRANSIENT_DURABILITY_QOS -->
                <durability>
                    <kind>TRANSIENT</kind>
                </durability>
            </qos>
            <propertiesPolicy>
                <properties>
                    <!-- Persistence GUID -->
                    <property>
                        <name>dds.persistence.guid</name>
                        <value>72.65.61.64.65.72.5f.70.65.72.73.5f|67.75.69.64</value>
                    </property>
                </properties>
            </propertiesPolicy>
        </data_reader>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->QoS Examples<-->

<!-->XML_DEADLINE<-->
<data_writer profile_name="writer_xml_conf_deadline_profile">
    <qos>
        <deadline>
            <period>
                <sec>1</sec>
            </period>
        </deadline>
    </qos>
</data_writer>

<data_reader profile_name="reader_xml_conf_deadline_profile">
    <qos>
        <deadline>
            <period>
                <sec>1</sec>
            </period>
        </deadline>
    </qos>
</data_reader>
<!--><-->

<data_writer profile_name="writer_xml_history_qos_profile">
<!-->XML-HISTORY<-->
<topic>
    <historyQos>
        <kind>KEEP_LAST</kind> <!-- string -->
        <depth>20</depth> <!-- uint32 -->
    </historyQos>
</topic>
<!--><-->
</data_writer>


<!-->XML_LIFESPAN<-->
<data_writer profile_name="writer_xml_conf_lifespan_profile">
    <qos>
        <lifespan>
            <duration>
                <sec>5</sec>
            </duration>
        </lifespan>
    </qos>
</data_writer>

<data_reader profile_name="reader_xml_conf_lifespan_profile">
    <qos>
        <lifespan>
            <duration>
                <sec>5</sec>
            </duration>
        </lifespan>
    </qos>
</data_reader>
<!--><-->

<!-->XML-PARTITION<-->
<data_writer profile_name="pub_partition_example">
    <qos>
        <partition>
            <names>
                <name>part1</name>
                <name>part2</name>
            </names>
        </partition>
    </qos>
</data_writer>

<data_reader profile_name="sub_partition_example">
    <qos>
        <partition>
            <names>
                <name>part1</name>
                <name>part2</name>
            </names>
        </partition>
    </qos>
</data_reader>
<!--><-->

<!-->XML_RELIABILITY<-->
<data_writer profile_name="writer_xml_conf_reliability_profile">
    <qos>
        <reliability>
            <kind>RELIABLE</kind>
            <max_blocking_time>
                <sec>1</sec>
            </max_blocking_time>
        </reliability>
    </qos>
</data_writer>

<data_reader profile_name="reader_xml_conf_reliability_profile">
    <qos>
        <reliability>
            <kind>BEST_EFFORT</kind>
        </reliability>
    </qos>
</data_reader>
<!--><-->

<!-->XML_RESOURCE_LIMITS<-->
<data_writer profile_name="writer_xml_conf_resource_limits_profile">
    <topic>
        <resourceLimitsQos>
            <max_samples>2000</max_samples>
            <max_instances>20</max_instances>
            <max_samples_per_instance>100</max_samples_per_instance>
            <allocated_samples>50</allocated_samples>
        </resourceLimitsQos>
    </topic>
</data_writer>

<data_reader profile_name="reader_xml_conf_resource_limits_profile">
    <topic>
        <resourceLimitsQos>
            <max_samples>2000</max_samples>
            <max_instances>20</max_instances>
            <max_samples_per_instance>100</max_samples_per_instance>
            <allocated_samples>50</allocated_samples>
        </resourceLimitsQos>
    </topic>
</data_reader>
<!--><-->

<!-->XML_PROPERTY_POLICY<-->
<participant profile_name="secure_participant_conf_all_plugin_xml_profile">
    <rtps>
        <propertiesPolicy>
            <properties>
                <!-- Activate Auth:PKI-DH plugin -->
                <property>
                    <name>dds.sec.auth.plugin</name>
                    <value>builtin.PKI-DH</value>
                </property>

                <!-- Activate Access:Permissions plugin -->
                <property>
                    <name>dds.sec.access.plugin</name>
                    <value>builtin.Access-Permissions</value>
                </property>

                <!-- User Custom Property to send externally -->
                <property>
                    <name>Custom Property Name</name>
                    <value>Custom value</value>
                    <propagate>true</propagate>
                </property>
            </properties>
        </propertiesPolicy>
    </rtps>
</participant>
<!--><-->

<!-->XML_READER_RESOURCE_LIMITS_QOS<-->
<data_reader profile_name="alloc_qos_example_sub">
    <!-- we know we will only have one matching publisher -->
    <matchedPublishersAllocation>
        <initial>1</initial>
        <maximum>1</maximum>
        <increment>0</increment>
    </matchedPublishersAllocation>
</data_reader>
<!--><-->

<!-->XML_WRITER_RESOURCE_LIMITS_QOS<-->
<data_writer profile_name="alloc_qos_example_pub_for_topic_1">
    <!-- we know we will have three matching subscribers -->
    <matchedSubscribersAllocation>
        <initial>3</initial>
        <maximum>3</maximum>
        <increment>0</increment>
    </matchedSubscribersAllocation>

    <!-- reader_filters_allocation cannot be configured using XML (yet) -->
</data_writer>
<!--><-->

<!-->XML_RTPS_ENDPOINT_QOS<-->
<data_writer profile_name="writer_xml_conf_unicast_locators_profile">
    <userDefinedID>3</userDefinedID>
    <entityID>2</entityID> <!-- Int16 -->
    <unicastLocatorList>
        <locator>
            <udpv4>
                <port>7800</port>
            </udpv4>
        </locator>
    </unicastLocatorList>
    <multicastLocatorList>
        <locator>
            <udpv4>
                <address>239.255.0.4</address>
                <port>7900</port>
            </udpv4>
        </locator>
    </multicastLocatorList>
    <external_unicast_locators>
        <udpv4 externality="1" cost="0" mask="24">
            <address>100.100.100.10</address>
            <port>12345</port>
        </udpv4>
    </external_unicast_locators>
    <ignore_non_matching_locators>true</ignore_non_matching_locators>
    <!-- The history memory policy is changed to DYNAMIC_RESERVE -->
    <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</data_writer>

<data_reader profile_name="reader_xml_conf_unicast_locators_profile">
    <userDefinedID>5</userDefinedID>
    <entityID>4</entityID> <!-- Int16 -->
    <unicastLocatorList>
        <locator>
            <udpv4>
                <port>7800</port>
            </udpv4>
        </locator>
    </unicastLocatorList>
    <multicastLocatorList>
        <locator>
            <udpv4>
                <address>239.255.0.4</address>
                <port>7900</port>
            </udpv4>
        </locator>
    </multicastLocatorList>
    <external_unicast_locators>
        <udpv4 externality="1" cost="0" mask="24">
            <address>100.100.100.10</address>
            <port>12345</port>
        </udpv4>
    </external_unicast_locators>
    <ignore_non_matching_locators>true</ignore_non_matching_locators>
    <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
</data_reader>
<!--><-->

<!-->XML_RTPS_RELIABLE_WRITER_QOS<-->
<data_writer profile_name="pub_profile_name">
    <times> <!-- writerTimesType -->
        <initial_heartbeat_delay> <!-- DURATION -->
            <nanosec>20</nanosec>
        </initial_heartbeat_delay>
        <heartbeat_period> <!-- DURATION -->
            <sec>5</sec>
        </heartbeat_period>
        <nack_response_delay> <!-- DURATION -->
            <nanosec>10</nanosec>
        </nack_response_delay>
        <nack_supression_duration> <!-- DURATION -->
            <nanosec>20</nanosec>
        </nack_supression_duration>
    </times>

    <!--You can also change the values of DisablePositiveACKsQosPolicy.-->
    <!--See DisablePositiveACKsQosPolicy section for further details-->
    <qos>
        <!--Disable heartbeat piggyback mechanism.-->
        <disable_heartbeat_piggyback>true</disable_heartbeat_piggyback>
    </qos>
</data_writer>
<!--><-->

<!-->XML_RTPS_RELIABLE_READER_QOS<-->
<data_reader profile_name="sub_profile_name">
    <times> <!-- readerTimesType -->
        <initial_acknack_delay> <!-- DURATION -->
            <nanosec>70</nanosec>
        </initial_acknack_delay>
        <heartbeat_response_delay> <!-- DURATION -->
            <nanosec>5</nanosec>
        </heartbeat_response_delay>
    </times>
    <!--You can also change the values of DisablePositiveACKsQosPolicy.-->
    <!--See DisablePositiveACKsQosPolicy section for further details-->
</data_reader>
<!--><-->

<!-->XML_WIRE_PROTOCOL_CONFIG_QOS<-->
<participant profile_name="UDP SERVER WP" is_default_profile="true">
    <rtps>
        <prefix>72.61.73.70.66.61.72.6d.74.65.73.74</prefix>
        <participantID>11</participantID>
        <easy_mode_ip>127.0.0.1</easy_mode_ip>
        <builtin>
            <discovery_config>
                <discoveryProtocol>SERVER</discoveryProtocol>
            </discovery_config>
            <metatrafficUnicastLocatorList>
                <locator>
                    <udpv4>
                        <address>192.168.10.57</address>
                        <port>56542</port>
                    </udpv4>
                </locator>
            </metatrafficUnicastLocatorList>
            <metatraffic_external_unicast_locators>
                <udpv4 externality="1" cost="0" mask="24">
                    <address>100.100.100.10</address>
                    <port>34567</port>
                </udpv4>
            </metatraffic_external_unicast_locators>
            <mutation_tries>300</mutation_tries>
        </builtin>
        <defaultUnicastLocatorList>
            <locator>
                <udpv4>
                    <!-- Access as physical, like UDP -->
                    <port>7400</port>
                    <address>192.168.1.41</address>
                </udpv4>
            </locator>
        </defaultUnicastLocatorList>

        <defaultMulticastLocatorList>
            <locator>
                <udpv4>
                    <!-- Access as physical, like UDP -->
                    <port>7400</port>
                    <address>192.168.1.41</address>
                </udpv4>
            </locator>
        </defaultMulticastLocatorList>

        <default_external_unicast_locators>
            <udpv4 externality="1" cost="0" mask="24">
                <address>100.100.100.10</address>
                <port>23456</port>
            </udpv4>
        </default_external_unicast_locators>

        <ignore_non_matching_locators>true</ignore_non_matching_locators>
    </rtps>
</participant>
<!--><-->

<!-->XML_CHANGE_GROUP_DATA_QOS_POLICY<-->
<data_writer profile_name="writer_xml_conf_groupdata_profile">
    <qos>
        <groupData>
            <value>3.a</value>
        </groupData>
    </qos>
</data_writer>

<data_reader profile_name="reader_xml_conf_groupdata_profile">
    <qos>
        <groupData>
            <value>3.a</value>
        </groupData>
    </qos>
</data_reader>
<!--><-->

<!-->XML_CHANGE_TOPIC_DATA_QOS_POLICY<-->
<data_writer profile_name="writer_xml_conf_topicdata_profile">
    <qos>
        <topicData>
            <value>3.a</value>
        </topicData>
    </qos>
</data_writer>

<data_reader profile_name="reader_xml_conf_topicdata_profile">
    <qos>
        <topicData>
            <value>3.a</value>
        </topicData>
    </qos>
</data_reader>
<!--><-->

<!-->XML_CHANGE_USER_DATA_QOS_POLICY<-->
<participant profile_name="participant_xml_conf_userdata_profile">
    <rtps>
        <userData>
            <value>3.a</value>
        </userData>
    </rtps>
</participant>

<data_writer profile_name="writer_xml_conf_userdata_profile">
    <qos>
        <userData>
            <value>3.a</value>
        </userData>
    </qos>
</data_writer>

<data_reader profile_name="reader_xml_conf_userdata_profile">
    <qos>
        <userData>
            <value>3.a</value>
        </userData>
    </qos>
</data_reader>
<!--><-->

<!-->XML-STATIC-DISCOVERY-FORMAT<-->
<participant profile_name="participant_xml_conf_static_discovery_format_profile">
    <rtps>
        <propertiesPolicy>
            <properties>
                <property>
                    <name>dds.discovery.static_edp.exchange_format</name>
                    <value>v1_Reduced</value>
                </property>
            </properties>
        </propertiesPolicy>
    </rtps>
</participant>
<!--><-->

<!-->XML-SHM-ENFORCE-META-TRAFFIC<-->
<participant profile_name="participant_xml_conf_shm_enforce_metatraffic_profile">
    <rtps>
        <propertiesPolicy>
            <properties>
                <property>
                    <name>fastdds.shm.enforce_metatraffic</name>
                    <value>unicast</value>
                </property>
            </properties>
        </propertiesPolicy>
    </rtps>
</participant>
<!--><-->

<!--XML_PROFILES_SECTION-->

<!--XML_PROFILES_TRANSPORT_DESCRIPTORS-->
<!-->
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
<-->
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>my_udpv4_transport</transport_id>
                <type>UDPv4</type>
                <sendBufferSize>8192</sendBufferSize>
                <receiveBufferSize>8192</receiveBufferSize>
                <maxMessageSize>16384</maxMessageSize>
                <maxInitialPeersRange>100</maxInitialPeersRange>
                <netmask_filter>AUTO</netmask_filter>
                <interfaces>
                    <allowlist>
                        <interface name="wlp59s0" netmask_filter="ON"/>
                    </allowlist>
                    <blocklist>
                        <interface name="127.0.0.1"/>
                        <interface name="docker0"/>
                    </blocklist>
                </interfaces>
                <interfaceWhiteList>
                    <address>192.168.1.41</address>
                    <interface>lo</interface>
                </interfaceWhiteList>
                <TTL>250</TTL>
                <non_blocking_send>false</non_blocking_send>
                <output_port>5101</output_port>
                <wan_addr>80.80.55.44</wan_addr>
                <keep_alive_frequency_ms>5000</keep_alive_frequency_ms>
                <keep_alive_timeout_ms>25000</keep_alive_timeout_ms>
                <max_logical_port>9000</max_logical_port>
                <logical_port_range>100</logical_port_range>
                <logical_port_increment>2</logical_port_increment>
                <listening_ports>
                    <port>5100</port>
                    <port>5200</port>
                </listening_ports>
                <tls><!-- TLS Section --></tls>
                <calculate_crc>false</calculate_crc>
                <check_crc>false</check_crc>
                <enable_tcp_nodelay>false</enable_tcp_nodelay>
                <segment_size>262144</segment_size>
                <port_queue_capacity>512</port_queue_capacity>
                <healthy_check_timeout_ms>1000</healthy_check_timeout_ms>
                <rtps_dump_file>rtsp_messages.log</rtps_dump_file>
                <default_reception_threads>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </default_reception_threads>
                <reception_threads>
                    <reception_thread port="12345">
                        <scheduling_policy>-1</scheduling_policy>
                        <priority>0</priority>
                        <affinity>0</affinity>
                        <stack_size>-1</stack_size>
                    </reception_thread>
                </reception_threads>
                <dump_thread>
                    <scheduling_policy>-1</scheduling_policy>
                    <priority>0</priority>
                    <affinity>0</affinity>
                    <stack_size>-1</stack_size>
                </dump_thread>
            </transport_descriptor>
        </transport_descriptors>
<!-->
    </profiles>
</dds>
<-->
<!--><-->

<!-->DDS_MULTICAST_DELIVERY<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com">
-->
    <data_reader profile_name="reader_xml_conf_multicast_locators_profile">
        <multicastLocatorList>
            <locator>
                <udpv4>
                    <address>239.255.0.4</address>
                    <port>7900</port>
                </udpv4>
            </locator>
        </multicastLocatorList>
    </data_reader>
<!--><-->

<!-- NON_VALIDATION SNIPPETS -->
<!-->LARGE_DATA_BUILTIN_TRANSPORTS<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <!--
            UDP transport for PDP and SHM/TCPv4 transport for both EDP and application data
        -->
        <participant profile_name="large_data_builtin_transports" is_default_profile="true">
            <rtps>
                <builtinTransports>LARGE_DATA</builtinTransports>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->LARGE_DATA_BUILTIN_TRANSPORTS_OPTIONS<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
    <profiles>
-->
        <participant profile_name="large_data_builtin_transports_options" is_default_profile="true">
            <rtps>
                <builtinTransports max_msg_size="200KB" sockets_size="200KB" non_blocking="true" tcp_negotiation_timeout="50">LARGE_DATA</builtinTransports>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->PDP-MULTICAST-DATA-TCP<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <transport_descriptors>
            <!--
                UDP transport for PDP
            -->
            <transport_descriptor>
                    <transport_id>pdp_transport</transport_id>
                    <type>UDPv4</type>
            </transport_descriptor>
            <!--
                TCP transport for both EDP and application data
            -->
            <transport_descriptor>
                <transport_id>data_transport</transport_id>
                <type>TCPv4</type>
                <!--
                    Set listening port for the transport.
                    This needs to be unique for each participant in the host
                -->
                <listening_ports>
                    <port>0</port>
                </listening_ports>
            </transport_descriptor>
        </transport_descriptors>

        <participant profile_name="udp_multicast_pdp_w_tcp_data" is_default_profile="true">
            <rtps>
                <!--
                    Set participant transports
                -->
                <userTransports>
                    <transport_id>pdp_transport</transport_id>
                    <transport_id>data_transport</transport_id>
                </userTransports>
                <useBuiltinTransports>false</useBuiltinTransports>
                <!--
                    Discovery configuration
                -->
                <builtin>
                    <!--
                        PDP over UDP multicast
                    -->
                    <metatrafficMulticastLocatorList>
                        <locator>
                            <udpv4>
                                <address>239.255.0.1</address>
                            </udpv4>
                        </locator>
                    </metatrafficMulticastLocatorList>
                    <!--
                        EDP over TCP
                    -->
                    <metatrafficUnicastLocatorList>
                        <locator>
                            <tcpv4>
                                <address>0.0.0.0</address>
                                <physical_port>12345</physical_port>
                                <port>12345</port>
                            </tcpv4>
                        </locator>
                    </metatrafficUnicastLocatorList>
                </builtin>
                <!--
                    Application data over TCP
                -->
                <defaultUnicastLocatorList>
                    <locator>
                        <tcpv4>
                            <address>0.0.0.0</address>
                            <physical_port>12345</physical_port>
                            <port>12345</port>
                        </tcpv4>
                    </locator>
                </defaultUnicastLocatorList>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->TCP-AND-DISCOVERY-SERVER-SERVER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>server_tcp_transport</transport_id>
                <type>TCPv4</type>
                <!--
                    Set listening port for the transport.
                    This port is where the clients will connect.
                -->
                <listening_ports>
                    <port>12345</port>
                </listening_ports>
            </transport_descriptor>
        </transport_descriptors>
        <participant profile_name="TCP_SERVER" is_default_profile="true">
            <rtps>
                <builtin>
                    <discovery_config>
                        <discoveryProtocol>SERVER</discoveryProtocol>
                    </discovery_config>
                    <metatrafficUnicastLocatorList>
                        <locator>
                            <tcpv4>
                                <address>192.168.10.57</address>
                                <port>12345</port>
                                <physical_port>12345</physical_port>
                            </tcpv4>
                        </locator>
                    </metatrafficUnicastLocatorList>
                </builtin>
                <useBuiltinTransports>false</useBuiltinTransports>
                <userTransports>
                    <transport_id>server_tcp_transport</transport_id>
                </userTransports>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

<!-->TCP-AND-DISCOVERY-SERVER-CLIENT<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
    <profiles>
-->
        <transport_descriptors>
            <transport_descriptor>
                    <transport_id>client_tcp_transport</transport_id>
                    <type>TCPv4</type>
                    <!--
                        Set listening port for the transport to 0.
                        This automatically assigns a port.
                    -->
                    <listening_ports>
                        <port>0</port>
                    </listening_ports>
            </transport_descriptor>
        </transport_descriptors>
        <participant profile_name="TCP_CLIENT" is_default_profile="true">
            <rtps>
                <builtin>
                    <discovery_config>
                        <discoveryProtocol>CLIENT</discoveryProtocol>
                        <discoveryServersList>
                            <!--
                                Server locator specifying where it is listening
                            -->
                            <locator>
                                <tcpv4>
                                    <address>192.168.10.57</address>
                                    <port>12345</port>
                                    <physical_port>12345</physical_port>
                                </tcpv4>
                            </locator>
                        </discoveryServersList>
                    </discovery_config>
                </builtin>
                <useBuiltinTransports>false</useBuiltinTransports>
                <userTransports>
                    <transport_id>client_tcp_transport</transport_id>
                </userTransports>
            </rtps>
        </participant>
<!--
    </profiles>
</dds>
-->
<!--><-->

</profiles>

<!-->CONF-LIBRARY-SETTINGS<-->
    <library_settings>
        <intraprocess_delivery>FULL</intraprocess_delivery> <!-- OFF | USER_DATA_ONLY | FULL -->
    </library_settings>
<!--><-->

<!-->LOG-CONFIG<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com">
-->
    <log>
        <!--
        Clear consumers
        -->
        <use_default>false</use_default>

        <!--
        StdoutConsumer does not have any properties
        -->
        <consumer>
            <class>StdoutConsumer</class>
        </consumer>

        <!--
        StdoutErrConsumer with threshold set to Log::Kind::Error
        -->
        <consumer>
            <class>StdoutErrConsumer</class>
            <property>
                <name>stderr_threshold</name>
                <value>Log::Kind::Error</value>
            </property>
        </consumer>

        <!--
        FileConsumer openning "execution.log" in append mode
        -->
        <consumer>
            <class>FileConsumer</class>
            <property>
                <name>filename</name>
                <value>execution.log</value>
            </property>
            <property>
                <name>append</name>
                <value>true</value>
            </property>
        </consumer>

        <!--
        ThreadSettings for the log's consumer thread
        -->
        <thread_settings>
            <scheduling_policy>-1</scheduling_policy>
            <priority>0</priority>
            <affinity>0</affinity>
            <stack_size>-1</stack_size>
        </thread_settings>
    </log>
<!--
</dds>
-->
<!--><-->

<types>
<type>

<!-->XML_PRIMITIVES<-->
<struct name="PrimitivesStruct">
    <member name="my_bool" type="boolean"/>
    <member name="my_octet" type="byte"/>
    <member name="my_char" type="char8"/>
    <member name="my_wchar" type="char16"/>
    <member name="my_long" type="int32"/>
    <member name="my_ulong" type="uint32"/>
    <member name="my_int8" type="int8"/>
    <member name="my_uint8" type="uint8"/>
    <member name="my_short" type="int16"/>
    <member name="my_ushort" type="uint16"/>
    <member name="my_longlong" type="int64"/>
    <member name="my_ulonglong" type="uint64"/>
    <member name="my_float" type="float32"/>
    <member name="my_double" type="float64"/>
    <member name="my_longdouble" type="float128"/>
</struct>
<!--><-->

<!-->XML_STRINGS<-->
<struct name="StringsStruct">
    <member name="my_string" type="string"/>
    <member name="my_wstring" type="wstring"/>
    <member name="my_bounded_string" type="string" stringMaxLength="41925"/>
    <member name="my_bounded_wstring" type="wstring" stringMaxLength="20925"/>
</struct>
<!--><-->

<!-->XML_ENUM<-->
<enum name="MyEnum">
    <enumerator name="A" value="0"/>
    <enumerator name="B" value="1"/>
    <enumerator name="C"/>
</enum>

<struct name="EnumStruct">
    <member name="my_enum" type="nonBasic" nonBasicTypeName="MyEnum"/>
</struct>
<!--><-->

<!-->XML_BITMASK<-->
<bitmask name="MyBitMask" bit_bound="8">
    <bit_value name="flag0" position="0"/>
    <bit_value name="flag1"/>
    <bit_value name="flag2"/>
    <bit_value name="flag5" position="5"/>
</bitmask>

<struct name="BitmaskStruct">
    <member name="my_bitmask" type="nonBasic" nonBasicTypeName="MyBitMask"/>
</struct>
<!--><-->

<!-- TODO: fix XSD -->
<!-->XML_TYPEDEF<-->
<typedef name="MyAliasedEnum" type="nonBasic" nonBasicTypeName="MyEnum"/>
<!-- XSD does not allow to set bounds to aliased strings -->
<typedef name="MyAliasedBoundedString" type="string"/>
<typedef name="MyRecursiveAlias" type="nonBasic" nonBasicTypeName="MyAliasedEnum"/>

<struct name="AliasStruct">
    <member name="my_aliased_enum" type="nonBasic" nonBasicTypeName="MyAliasedEnum"/>
    <member name="my_aliased_bounded_string" type="nonBasic" nonBasicTypeName="MyAliasedBoundedString"/>
    <member name="my_recursive_alias" type="nonBasic" nonBasicTypeName="MyRecursiveAlias"/>
</struct>
<!--><-->

<!-->XML_SEQUENCES<-->
<struct name="SequenceStruct">
    <member name="bitmask_sequence" type="nonBasic" nonBasicTypeName="MyBitMask" sequenceMaxLength="-1"/>
    <member name="short_sequence" sequenceMaxLength="5" type="int16"/>
</struct>
<!--><-->

<!-->XML_ARRAYS<-->
<struct name="ArrayStruct">
    <member name="long_array" type="int32" arrayDimensions="2,3,4"/>
</struct>
<!--><-->

<!-->XML_MAPS<-->
<struct name="MapStruct">
    <member name="string_alias_unbounded_map" type="nonBasic" nonBasicTypeName="MyAliasedBoundedString" key_type="string" mapMaxLength="-1"/>
    <member name="short_long_map" type="int32" key_type="int16" mapMaxLength="2"/>
</struct>
<!--><-->

<!-->XML_STRUCT<-->
<struct name="InnerStruct">
    <!-- XML does not support setting Member ID -->
    <member name="first" type="int32"/>
</struct>

<!-- TODO(XTypes: Fix inheritance loading from XML profile) Fast DDS#4626 -->
<!-- <struct name="ParentStruct">
    <member name="first" type="float32"/>
    <member name="second" type="int64"/>
</struct>

<struct name="ComplexStruct" baseType="ParentStruct">
    <member name="complex_member" type="nonBasic" nonBasicTypeName="InnerStruct"/>
</struct> -->
<!--><-->

<!-->XML_UNION<-->
<union name="InnerUnion">
    <discriminator type="int16"/>
    <case>
        <caseDiscriminator value="0"/>
        <member name="first" type="nonBasic" nonBasicTypeName="PrimitivesStruct"/>
    </case>
    <case>
        <caseDiscriminator value="1"/>
        <caseDiscriminator value="default"/>
        <member name="second" type="int64"/>
    </case>
</union>
<union name="ComplexUnion">
    <discriminator type="int32"/>
    <case>
        <caseDiscriminator value="0"/>
        <caseDiscriminator value="1"/>
        <member name="third" type="int32"/>
    </case>
    <case>
        <caseDiscriminator value="default"/>
        <member name="fourth" type="nonBasic" nonBasicTypeName="InnerUnion"/>
    </case>
</union>
<!--><-->

<!-->XML-GENERIC<-->
<struct name="primitive_types_example">
    <!-- Primitive type definitions inside a struct -->
    <member name="my_bool" type="boolean"/>
    <member name="my_char" type="char8"/>
    <member name="my_wchar" type="char16"/>
    <member name="my_byte" type="byte"/>
    <member name="my_octet" type="octet"/>
    <member name="my_uint8" type="uint8"/>
    <member name="my_short" type="int16"/>
    <member name="my_long" type="int32"/>
    <member name="my_unsignedshort" type="uint16"/>
    <member name="my_unsignedlong" type="uint32"/>
    <member name="my_longlong" type="int64"/>
    <member name="my_unsignedlonglong" type="uint64"/>
    <member name="my_float" type="float32"/>
    <member name="my_double" type="float64"/>
    <member name="my_longdouble" type="float128"/>
    <member name="my_string" type="string"/>
    <member name="my_wstring" type="wstring"/>
</struct>
<!--><-->
<struct name="MembersExample">
<!-->XML-MEMBER_WITH_KEY<-->
<member name="my_long" type="int32" key="true"/>
<!--><-->
<!-->XML-BOUNDEDSTRINGS<-->
<member name="my_large_string" type="string" stringMaxLength="41925"/>
<member name="my_large_wstring" type="wstring" stringMaxLength="20925"/>
<!--><-->
<!-->XML-SEQUENCES<-->
<member name="short_sequence" sequenceMaxLength="5" type="int16"/>
<!--><-->
<!-->XML-ARRAYS<-->
<member name="long_array" type="int32" arrayDimensions="2,3,4"/>
<!--><-->
<!-->XML-MAPS<-->
<member name="long_long_map" type="int32" key_type="int32" mapMaxLength="2"/>
<!--><-->
</struct>

<!-->XML-COMPLEX<-->
<struct name="ComplexTypeStruct">
    <member name="my_complex_struct" type="nonBasic" nonBasicTypeName="primitive_types_example" arrayDimensions="5"/>
</struct>
<!--><-->

<!-->XML_BITSET<-->
<bitset name="ParentBitset">
    <bitfield name="a" bit_bound="3"/>
    <bitfield name="b" bit_bound="1"/>
    <bitfield bit_bound="4"/>
    <bitfield name="c" bit_bound="10"/>
    <bitfield name="d" bit_bound="12" type="int16"/>
</bitset>

<!-- TODO(XTypes: Fix inheritance loading from XML profile) Fast DDS#4626 -->
<!--<bitset name="ChildBitSet" baseType="ParentBitSet">
    <bitfield name="e" bit_bound="1"/>
    <bitfield name="f" bit_bound="20" type="uint32"/>
</bitset>

<struct name="BitsetStruct">
    <member name="my_bitset" type="nonBasic" nonBasicTypeName="ChildBitSet"/>
</struct>-->
<!--><-->

<!-->XML_CUSTOM_ANNOTATION<-->
<!-- XML Types Profiles does not support defining/setting custom annotations -->
<!--><-->

</type>
</types>
</dds>