.fastrtps-profile.xml

<?xml version="1.0" encoding="UTF-8" ?>
<!--This file is so that ros can connect over multiple users and over the network.-->
<!-- This is needed for the controller manager as it is executed by a superuser-->
<!--See: https://answers.ros.org/question/370595/ros2-foxy-nodes-cant-communicate-through-docker-container-border/-->
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>CustomUdpTransport</transport_id>
            <type>UDPv4</type>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="participant_profile" is_default_profile="true">
        <rtps>
            <userTransports>
                <transport_id>CustomUdpTransport</transport_id>
            </userTransports>

            <useBuiltinTransports>false</useBuiltinTransports>
        </rtps>
    </participant>
</profiles>