fastdds_server.xml

<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

        <transport_descriptors>
            <transport_descriptor>
                <transport_id>udpv6_transport</transport_id>
                <type>UDPv6</type>
            </transport_descriptor>
        </transport_descriptors>

        <participant profile_name="server_profile" is_default_profile="true">
            <rtps>
                <userTransports>
                    <transport_id>udpv6_transport</transport_id>
                </userTransports>
                <useBuiltinTransports>false</useBuiltinTransports>
                <prefix>44.49.53.43.53.45.52.56.45.52.5F.31</prefix>
                <builtin>
                    <discovery_config>
                        <discoveryProtocol>SERVER</discoveryProtocol>
                    </discovery_config>
                    <metatrafficUnicastLocatorList>
                        <locator>
                            <udpv6>
                                <address>dds-discovery-server</address>
                                <port>11811</port>
                            </udpv6>
                        </locator>
                    </metatrafficUnicastLocatorList>
                </builtin>
            </rtps>
        </participant>
    </profiles>
</dds>