How to add fastdds xml in ros2router

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1

In theory, 2 host in husarnet network and same domain communicate each other need fastdds xml file.
In my case
HostA in Domain0/localhostonly=1; Host B in Domain1.
here is my config ddsrouter with local lan:
version: v4.0

XML configurations to load

#xml:

files:

- “/var/tmp/fastdds-simple.xml”

participants:

  • name: SimpleParticipantlocal1
    kind: local
    domain: 0
    ignore-participant-flags: no_filter
    whitelist-interfaces:
    • 127.0.0.1
  • name: SimpleParticipantlocal0
    kind: local
    domain: 1
    ignore-participant-flags: no_filter
    my ideal is add xml fastdds into ddsrouter.yaml so all topic in domain 0 will trafficc to domain 1 with xml fastdds ?
    you have any ideal ?
2

i follow with ROS 2 Router for Remote Robotics and Topic Filtering | Husarnet.
but seemly this configuration dont have dds.xml ? you have example fully ?

5

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