fast-dds-profile.xml

<?xml version="1.0" encoding="UTF-8"?>
<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
    <profiles>
        <!-- UDPv4 Transport profile -->
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>udp_transport</transport_id>
                <type>UDPv4</type>
                <!-- Reduce socket buffer size -->
                <sendBufferSize>4096</sendBufferSize>
                <receiveBufferSize>4096</receiveBufferSize>
                <!-- Reduce max message size, otherwise the participant creation fails -->
                <maxMessageSize>4096</maxMessageSize>
            </transport_descriptor>
        </transport_descriptors>

        <!-- Domain Participant Profile -->
        <participant profile_name="domainparticipant_profile_name" is_default_profile="true">
            <rtps>
                <!-- Use user defined UDPv4 transport -->
                <userTransports>
                    <transport_id>udp_transport</transport_id>
                </userTransports>
                <!-- Disable builtin transports -->
                <useBuiltinTransports>false</useBuiltinTransports>
            </rtps>
        </participant>

        <!-- Default publisher profile -->
        <data_writer profile_name="default_publisher_profile" is_default_profile="true">
            <topic>
                <!-- Tune initial allocations -->
                <resourceLimitsQos>
                    <max_samples>0</max_samples>
                    <allocated_samples>0</allocated_samples>
                </resourceLimitsQos>
            </topic>
        </data_writer>

        <!-- Default subscriber profile -->
        <data_reader profile_name="default_subscriber_profile" is_default_profile="true">
            <topic>
                <!-- Tune initial allocations -->
                <resourceLimitsQos>
                    <max_samples>0</max_samples>
                    <allocated_samples>0</allocated_samples>
                </resourceLimitsQos>
            </topic>
        </data_reader>
    </profiles>
</dds>