<?xml version="1.0" encoding="UTF-8" ?>
<!--
  CycloneDDS configuration tuned for Ouster OS0/OS1 on Ubuntu 22.04 + ROS 2 Humble.

  Usage:
      1) Copy this file to ~/.ros/cyclonedds.xml on the host machine.
      2) Replace "enp4s0" and "wlp3s0" with the actual interface names of
         the host (find them with `ip -br link show`).
      3) Export CYCLONEDDS_URI in your shell, for example:
            export CYCLONEDDS_URI=file://$HOME/.ros/cyclonedds.xml

  See: https://github.com/BENKRID-abdenour/Ouster_Driver_CycloneDDS_Ubuntu_22.04_ROS2_Humble
-->
<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>
            <Interfaces>
                <NetworkInterface name="enp4s0" priority="default" multicast="default" presence_required="false"/>
                <NetworkInterface name="wlp3s0" priority="default" multicast="default" presence_required="false"/>
            </Interfaces>
            <AllowMulticast>default</AllowMulticast>
            <MaxMessageSize>65500B</MaxMessageSize>
        </General>
        <Internal>
            <SocketReceiveBufferSize min="10MB"/>
            <Watermarks>
                <WhcHigh>500kB</WhcHigh>
            </Watermarks>
        </Internal>
    </Domain>
</CycloneDDS>
