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In Bouncy, you need to create a DEFAULT_FASTRTPS_PROFILES.xml that looks like below
<?xml version="1.0" encoding="UTF-8" ?$> <profiles> <participant profile_name="participant_somename" is_default_profile="true"> <rtps> <builtin> <domainId>4</domainId> <initialPeersList> <locator> <kind>UDPv4</kind> <address>X.X.X.X</address> </locator> <locator> <kind>UDPv4</kind> <address>Y.Y.Y.Y</address> </locator> <locator> <kind>UDPv4</kind> <address>Z.Z.Z.Z</address> </locator> </initialPeersList> </builtin> </rtps> </participant> </profiles>
Where X.X.X.X, Y.Y.Y.Y and Z.Z.Z.Z are ip addresses of the peers