DEFAULT_FASTRTPS_PROFILES.xml

<profiles>
  <participant profile_name="default_xrce_participant_profile">
    <rtps>
      <builtin>
        <leaseDuration>
          <durationbyname>INFINITE</durationbyname>
        </leaseDuration>
        <domainId>0</domainId>
      </builtin>
      <name>DataReader_participant_subscriber</name>
    </rtps>
  </participant>
  <publisher profile_name="default_xrce_publisher_profile">
    <topic>
      <kind>WITH_KEY</kind>
      <name>Square</name>
      <dataType>ShapeType</dataType>
      <historyQos>
        <kind>KEEP_LAST</kind>
        <depth>5</depth>
      </historyQos>
      <durability>
        <kind>TRANSIENT_LOCAL</kind>
      </durability>
    </topic>
  </publisher>
  <subscriber profile_name="default_xrce_subscriber_profile">
    <topic>
      <kind>WITH_KEY</kind>
      <name>Square</name>
      <dataType>ShapeType</dataType>
      <historyQos>
        <kind>KEEP_LAST</kind>
        <depth>5</depth>
      </historyQos>
      <durability>
        <kind>TRANSIENT_LOCAL</kind>
      </durability>
    </topic>
  </subscriber>
</profiles>