<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
    <profiles>
        <participant profile_name="participant_profile">
            <domainId>80</domainId>
            <rtps>
                <builtin>
                    <discovery_config>
                        <leaseDuration>
                            <sec>DURATION_INFINITY</sec>
                        </leaseDuration>
                    </discovery_config>
                </builtin>
            </rtps>
        </participant>

        <publisher profile_name="publisher_profile">
            <topic>
                <name>xml_profiles_topic</name>
                <dataType>XMLProfilesExample</dataType>
                <kind>NO_KEY</kind>
                <historyQos>
                    <kind>KEEP_LAST</kind>
                    <depth>20</depth>
                </historyQos>
            </topic>
            <qos>
                <reliability>
                    <kind>RELIABLE</kind>
                </reliability>
            </qos>
            <historyMemoryPolicy>PREALLOCATED</historyMemoryPolicy>
        </publisher>

        <subscriber profile_name="subscriber_profile">
            <topic>
                <name>xml_profiles_topic</name>
                <dataType>XMLProfilesExample</dataType>
                <kind>NO_KEY</kind>
                <historyQos>
                    <kind>KEEP_LAST</kind>
                    <depth>20</depth>
                </historyQos>
            </topic>
            <qos>
                <reliability>
                    <kind>RELIABLE</kind>
                </reliability>
            </qos>
            <historyMemoryPolicy>PREALLOCATED</historyMemoryPolicy>
        </subscriber>

    </profiles>
</dds>
