If you are using the default ROS2 DDS implementation, then Fast RTPS is able to load a default XML file, and inside this file you can set the default QoS for the ROS2 internal's DDS participants.

The XML file should be named `DEFAULT_FASTRTPS_PROFILES.xml` and it must be located in the root directory where you will execute your application.

Here you have an example of XML file. It disables multicast setting an empty metatraffic unicast locator and set two initial peers where other ros2 nodes will be running.

```xml
<?xml version="1.0" encoding="UTF-8" ?>
<profiles>
    <participant profile_name="participant_profile" is_default_profile="true">
        <rtps>
            <builtin>
                <metatrafficUnicastLocatorList>
                    <locator/>
                </metatrafficUnicastLocatorList>
                <initialPeersList>
                    <locator>
                        <address>192.168.1.8</address>
                    </locator>
                    <locator>
                        <address>192.168.1.10</address>
                    </locator>
                </initialPeersList>
            </builtin>
        </rtps>
    </participant>
</profiles>
```

I hope this is helpful for you.





---
[Visit Topic](https://discourse.ros.org/t/ros2-and-openvpn-level-2/6259/2) or reply to this email to respond.


If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates.
______________________________________________________________________________
ros-users mailing list
ros-users@lists.ros.org
http://lists.ros.org/mailman/listinfo/ros-users
Unsubscribe: <http://lists.ros.org/mailman//options/ros-users>