Hi guys,
On Fast RTPS you can listen to discovery data:
http://eprosima-fast-rtps.readthedocs.io/en/latest/advanced.html#subscribing-to-discovery-topics
Also, you can set the endpoints for discovery:
http://eprosima-fast-rtps.readthedocs.io/en/latest/pubsub.html#defining-input-and-output-channels
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