DEFAULT_FASTRTPS_PROFILES.xml

<?xml version="1.0" encoding="UTF-8" ?> 
<profiles> 
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>ContainerTransport</transport_id>
            <type>UDPv4</type>
        </transport_descriptor>
    </transport_descriptors>
    <participant profile_name="participant_profile_fog_sw" is_default_profile="true"> 
        <rtps> 
            <builtin>
                <discovery_config>
                    <leaseDuration>
                        <!-- DURATION -->
                        <sec>20</sec>
                        <nanosec>0</nanosec>
                    </leaseDuration>

                    <leaseAnnouncement>
                        <!-- DURATION -->
                        <sec>10</sec>
                        <nanosec>0</nanosec>
                    </leaseAnnouncement>
                </discovery_config>
            </builtin> 

            <userTransports>
                <transport_id>ContainerTransport</transport_id>
            </userTransports>
            <useBuiltinTransports>false</useBuiltinTransports>
        </rtps> 
    </participant> 
    <data_writer profile_name="datawriter_profile_fog_sw" is_default_profile="true">
        <qos> <!-- dataWriterQosPoliciesType -->
            <durability>
                <kind>VOLATILE</kind>
            </durability>
            <reliability>
                <kind>BEST_EFFORT</kind>
            </reliability>
        </qos>
    </data_writer>
    <data_reader profile_name="datareader_profile_fog_sw"  is_default_profile="true">
        <qos> <!-- dataReaderQosPoliciesType -->
            <durability>
                <kind>VOLATILE</kind>
            </durability>
            <reliability>
                <kind>BEST_EFFORT</kind>
            </reliability>
        </qos>
    </data_reader>
</profiles>