cyclone_config.xml

<CycloneDDS>
  <Domain>
    <General>
      <AllowMulticast>false</AllowMulticast>
      <MaxMessageSize>1400B</MaxMessageSize>
      <Interfaces>
      	<!-- Note: The name="" must be set in according to ifconfig -->
        <!-- <NetworkInterface name="enp4s0" priority="1"/> -->
        <NetworkInterface name="lo" priority="0"/>
      </Interfaces>
    </General>
    <Discovery>
      <ParticipantIndex>auto</ParticipantIndex>
      <Peers>
        <Peer Address="localhost"/>
        <Peer Address="192.168.254.100"/> <!-- UR10 E 2F-->
        <!-- <Peer Address=""/> --> <!-- Tiago pro-->
      </Peers>
      <MaxAutoParticipantIndex>500</MaxAutoParticipantIndex>
    </Discovery>
    <Internal>
      <Watermarks>
        <WhcHigh>2000kB</WhcHigh>
      </Watermarks>
    </Internal>
    <Tracing>
      <Verbosity>config</Verbosity>
      <OutputFile>${HOME}/.ros/log/cdds.log</OutputFile>
    </Tracing>
  </Domain>
</CycloneDDS>