ros2_rmp/customize/cyclonedds_zerotier.xml

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<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
<Domain id="any">
<General>
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<Interfaces>
<NetworkInterface name="zt3jn7jpga"/>
</Interfaces>
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<AllowMulticast>true</AllowMulticast>
</General>
<Discovery>
<Peers>
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<Peer address="10.241.215.39"/>
<Peer address="10.241.176.189"/>
<Peer address="10.241.125.101"/>
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</Peers>
<ParticipantIndex>auto</ParticipantIndex>
<MaxAutoParticipantIndex>40</MaxAutoParticipantIndex>
</Discovery>
<Tracing>
<Verbosity>severe</Verbosity>
<OutputFile>stdout</OutputFile>
</Tracing>
</Domain>
</CycloneDDS>