config.xml

<?xml version="1.0"?>
<profiles>
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>tcp_transport_server</transport_id>
            <type>TCPv4</type>
            <listening_ports>
                <port>5100</port>
            </listening_ports>
        </transport_descriptor>
    </transport_descriptors>

    <transport_descriptors>
        <transport_descriptor>
            <transport_id>tcp_transport_client</transport_id>
            <type>TCPv4</type>
        </transport_descriptor>
    </transport_descriptors>

    <participant profile_name="soss_profile_server">
        <rtps>
            <userTransports>
                <transport_id>tcp_transport_server</transport_id>
            </userTransports>
            <builtin>
                <leaseAnnouncement>
                    <sec>1</sec>
                </leaseAnnouncement>
            </builtin>
            <useBuiltinTransports>false</useBuiltinTransports>
        </rtps>
    </participant>

    <participant profile_name="soss_profile_client">
        <rtps>
            <userTransports>
                <transport_id>tcp_transport_client</transport_id>
            </userTransports>
            <builtin>
                <initialPeersList>
                    <locator>
                        <tcpv4>
                            <physical_port>5100</physical_port>
                            <address>127.0.0.1</address>
                        </tcpv4>
                    </locator>
                </initialPeersList>
                <leaseAnnouncement>
                    <sec>1</sec>
                </leaseAnnouncement>
            </builtin>
            <useBuiltinTransports>false</useBuiltinTransports>
        </rtps>
    </participant>

</profiles>