fastrtps-profile.xml

<?xml version="1.0" encoding="UTF-8" ?>
<!-- This file is taken from https://github.com/carla-simulator/carla/blob/0.10.0/PythonAPI/examples/ros2/config/fastrtps-profile.xml -->
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>CustomUdpTransport</transport_id>
            <type>UDPv4</type>
        </transport_descriptor>
    </transport_descriptors>
    <participant profile_name="participant_profile" is_default_profile="true">
        <rtps>
            <userTransports>
                <transport_id>CustomUdpTransport</transport_id>
            </userTransports>
            <useBuiltinTransports>false</useBuiltinTransports>
        </rtps>
    </participant>
    <publisher profile_name="default publisher profile" is_default_profile="true">
            <qos>
                <publishMode>
                    <kind>SYNCHRONOUS</kind>
                </publishMode>
            </qos>
            <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
        </publisher>
</profiles>