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4913 lines (4509 loc) · 154 KB
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<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
<!-->PUBSUB_API_CONF_PARTICIPANT<-->
<participant profile_name="participant_xml_conf_profile">
<domainId>80</domainId>
<rtps>
<name>my_participant</name>
</rtps>
</participant>
<!--><-->
<!-->PUBSUB_API_CONF_PARTICIPANT_NAME<-->
<participant profile_name="participant_xml_conf_name_profile">
<rtps>
<name>my_participant</name>
</rtps>
</participant>
<!--><-->
<!-->PUBSUB_API_CONF_PARTICIPANT_DOMAIN<-->
<participant profile_name="participant_xml_conf_domain_profile">
<domainId>80</domainId>
<rtps>
</rtps>
</participant>
<!--><-->
<!-->PUBSUB_API_CONF_PARTICIPANT_MUTATION_TRIES<-->
<participant profile_name="participant_xml_conf_mutation_tries_profile">
<rtps>
<builtin>
<mutation_tries>55</mutation_tries>
</builtin>
</rtps>
</participant>
<!--><-->
<!-->PUBSUB_API_CONF_PUBSUB_TOPIC<-->
<data_writer profile_name="writer_xml_conf_topic_profile">
<topic>
<dataType>HelloWorldType</dataType>
<name>HelloWorldTopic</name>
</topic>
</data_writer>
<data_reader profile_name="reader_xml_conf_topic_profile">
<topic>
<dataType>HelloWorldType</dataType>
<name>HelloWorldTopic</name>
</topic>
</data_reader>
<!--><-->
<!-->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_RELIABILITY<-->
<data_writer profile_name="writer_xml_conf_reliability_profile">
<qos>
<reliability>
<kind>RELIABLE</kind>
</reliability>
</qos>
</data_writer>
<data_reader profile_name="reader_xml_conf_reliability_profile">
<qos>
<reliability>
<kind>BEST_EFFORT</kind>
</reliability>
</qos>
</data_reader>
<!--><-->
<!-->PUBSUB_API_CONF_PUBSUB_HISTORY<-->
<data_writer profile_name="writer_xml_conf_history_profile">
<topic>
<historyQos>
<kind>KEEP_ALL</kind>
</historyQos>
</topic>
</data_writer>
<data_reader profile_name="reader_xml_conf_history_profile">
<topic>
<historyQos>
<kind>KEEP_LAST</kind>
<depth>5</depth>
</historyQos>
</topic>
</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_LIFESPAN<-->
<data_writer profile_name="writer_xml_conf_lifespan_profile">
<qos>
<lifespan>
<duration>
<sec>1</sec>
</duration>
</lifespan>
</qos>
</data_writer>
<data_reader profile_name="reader_xml_conf_lifespan_profile">
<qos>
<lifespan>
<duration>
<sec>1</sec>
</duration>
</lifespan>
</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_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>
<!--><-->
<!-->PUBSUB_API_CONF_PUBSUB_LIVELINESS<-->
<data_writer profile_name="writer_xml_conf_liveliness_profile">
<qos>
<liveliness>
<announcement_period>
<sec>0</sec>
<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_RESOURCE_LIMITS<-->
<data_writer profile_name="writer_xml_conf_resource_limits_profile">
<topic>
<resourceLimitsQos>
<max_samples>200</max_samples>
</resourceLimitsQos>
</topic>
</data_writer>
<data_reader profile_name="reader_xml_conf_resource_limits_profile">
<topic>
<resourceLimitsQos>
<max_samples>200</max_samples>
</resourceLimitsQos>
</topic>
</data_reader>
<!--><-->
<!-->PUBSUB_API_CONF_PUBSUB_UNICAST_LOCATORS<-->
<data_writer profile_name="writer_xml_conf_unicast_locators_profile">
<unicastLocatorList>
<locator>
<udpv4>
<port>7800</port>
</udpv4>
</locator>
</unicastLocatorList>
</data_writer>
<data_reader profile_name="reader_xml_conf_unicast_locators_profile">
<unicastLocatorList>
<locator>
<udpv4>
<port>7800</port>
</udpv4>
</locator>
</unicastLocatorList>
</data_reader>
<!--><-->
<!-->PUBSUB_API_CONF_PUBSUB_MULTICAST_LOCATORS<-->
<data_writer profile_name="writer_xml_conf_multicast_locators_profile">
<multicastLocatorList>
<locator>
<udpv4>
<address>239.255.0.4</address>
<port>7900</port>
</udpv4>
</locator>
</multicastLocatorList>
</data_writer>
<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>
<!--><-->
<!-->CONF-QOS-DATASHARING<-->
<data_writer profile_name="writer_profile_qos_datasharing">
<qos>
<data_sharing>
<kind>AUTOMATIC</kind>
<domain_ids>
<domainId>0x1234</domainId>
<domainId>0xABCD</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>0x1234</domainId>
<domainId>0xABCD</domainId>
</domain_ids>
</data_sharing>
</qos>
</data_reader>
<!--><-->
<!-->CONF-QOS-KEY<-->
<data_writer profile_name="writer_profile_qos_key">
<topic>
<kind>WITH_KEY</kind>
</topic>
</data_writer>
<!--><-->
<!-->CONF-QOS-RESOURCELIMIT-INSTANCES<-->
<data_reader profile_name="reader_profile_qos_resourcelimit">
<topic>
<resourceLimitsQos>
<max_instances>3</max_instances>
<max_samples_per_instance>20</max_samples_per_instance>
</resourceLimitsQos>
</topic>
</data_reader>
<!--><-->
<!-->CONF-QOS-PARTITIONS<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
<data_writer profile_name="pub_11">
<topic>
<name>TopicName</name>
<dataType>TopicDataTypeName</dataType>
</topic>
<qos>
<partition>
<names>
<name>Partition_1</name>
<name>Partition_2</name>
</names>
</partition>
</qos>
</data_writer>
<data_writer profile_name="pub_12">
<topic>
<name>TopicName</name>
<dataType>TopicDataTypeName</dataType>
</topic>
<qos>
<partition>
<names>
<name>*</name>
</names>
</partition>
</qos>
</data_writer>
<data_writer profile_name="pub_21">
<topic>
<name>TopicName</name>
<dataType>TopicDataTypeName</dataType>
</topic>
</data_writer>
<data_writer profile_name="pub_22">
<topic>
<name>TopicName</name>
<dataType>TopicDataTypeName</dataType>
</topic>
<qos>
<partition>
<names>
<name>Partition*</name>
</names>
</partition>
</qos>
</data_writer>
<data_reader profile_name="subs_31">
<topic>
<name>TopicName</name>
<dataType>TopicDataTypeName</dataType>
</topic>
<qos>
<partition>
<names>
<name>Partition_1</name>
</names>
</partition>
</qos>
</data_reader>
<data_reader profile_name="subs_32">
<topic>
<name>TopicName</name>
<dataType>TopicDataTypeName</dataType>
</topic>
<qos>
<partition>
<names>
<name>Partition_2</name>
</names>
</partition>
</qos>
</data_reader>
<data_reader profile_name="subs_33">
<topic>
<name>TopicName</name>
<dataType>TopicDataTypeName</dataType>
</topic>
<qos>
<partition>
<names>
<name>Partition_3</name>
</names>
</partition>
</qos>
</data_reader>
<data_reader profile_name="subs_34">
<topic>
<name>TopicName</name>
<dataType>TopicDataTypeName</dataType>
</topic>
</data_reader>
<!--><-->
<!-->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>
</rtps>
</participant>
<!--><-->
<!-->CONF-UDP-TRANSPORT-SETTING<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
<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>
</transport_descriptor>
</transport_descriptors>
<participant profile_name="UDPParticipant">
<rtps>
<userTransports>
<transport_id>udp_transport</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
<!--><-->
<!-->CONF-TCP-TRANSPORT-SETTING-SERVER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
<transport_descriptors>
<transport_descriptor>
<transport_id>tcp_server_transport</transport_id>
<type>TCPv4</type>
<sendBufferSize>9216</sendBufferSize>
<receiveBufferSize>9216</receiveBufferSize>
<listening_ports>
<port>5100</port>
</listening_ports>
</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>
<!--><-->
<!-->CONF-TCP-TRANSPORT-SETTING-CLIENT<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
<transport_descriptors>
<transport_descriptor>
<transport_id>tcp_client_transport</transport_id>
<type>TCPv4</type>
</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>
<!--><-->
<!-->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>
</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>
<!--><-->
<!-->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>
</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>
<!--><-->
<!-->CONF-SHM-TRANSPORT-SETTING<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
<transport_descriptors>
<!-- Create a descriptor for the new transport -->
<transport_descriptor>
<transport_id>shm_transport</transport_id>
<type>SHM</type>
</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>
<!--><-->
<!-->CONF-TCP-TLS-SERVER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
<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/XMLSchemas/fastRTPS_Profiles">
-->
<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>
</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/XMLSchemas/fastRTPS_Profiles">
-->
<participant profile_name="disable_multicast" is_default_profile="true">
<rtps>
<builtin>
<metatrafficUnicastLocatorList>
<locator/>
</metatrafficUnicastLocatorList>
<initialPeersList>
<locator>
<udpv4>
<address>192.168.0.1</address>
</udpv4>
</locator>
</initialPeersList>
</builtin>
</rtps>
</participant>
<!--><-->
<!-->CONF-NON-BLOCKING-WRITE<-->
<transport_descriptors>
<transport_descriptor>
<transport_id>non_blocking_transport</transport_id>
<type>UDPv4</type>
<non_blocking_send>false</non_blocking_send>
</transport_descriptor>
</transport_descriptors>
<participant profile_name="non_blocking_transport">
<rtps>
<userTransports>
<transport_id>non_blocking_transport</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
<!--><-->
<!-->CONF-QOS-FLOWCONTROLLER<-->
<!--
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
-->
<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>
</flow_controller_descriptor>
</flow_controller_descriptor_list>
</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-DISABLE-DISCOVERY<-->
<participant profile_name="participant_profile_qos_disable_discovery">
<rtps>
<builtin>
<discovery_config>
<discoveryProtocol>NONE</discoveryProtocol>
</discovery_config>
</builtin>
</rtps>
</participant>
<!--><-->
<!-->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>
<!--><-->
<!-->CONF-QOS-DISCOVERY-SERVERLIST<-->
<participant profile_name="participant_profile_qos_discovery_serverlist">
<rtps>
<builtin>
<discovery_config>
<discoveryProtocol>CLIENT</discoveryProtocol>
<discoveryServersList>
<RemoteServer prefix="44.53.00.5f.45.50.52.4f.53.49.4d.41">
<metatrafficUnicastLocatorList>
<locator>
<udpv4>
<address>192.168.2.65</address>
<port>5574</port>
</udpv4>
</locator>
</metatrafficUnicastLocatorList>
</RemoteServer>
</discoveryServersList>
</discovery_config>
</builtin>
</rtps>
</participant>
<!--><-->
<!-->XML-DS-CLI-XML-CONF<-->
<participant profile_name="participant_profile_discovery_server_cli" is_default_profile="true">
<rtps>
<prefix>44.53.01.5f.45.50.52.4f.53.49.4d.41</prefix>
<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>
<prefix>44.53.02.5f.45.50.52.4f.53.49.4d.41</prefix>
<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>
<prefix>44.53.00.5f.45.50.52.4f.53.49.4d.41</prefix>
<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>