<?xml version="1.0" encoding="UTF-8" ?>
<profiles>

    <participant profile_name="test_participant_profile" is_default_profile="true">
        <domainId>80</domainId>
        <rtps>
            <builtin>
                <discovery_config>
                    <leaseDuration>
                        <sec>DURATION_INFINITY</sec>
                    </leaseDuration>
                    <leaseAnnouncement>
                        <sec>10</sec>
                        <nanosec>333</nanosec>
                    </leaseAnnouncement>
                </discovery_config>
            </builtin>
        </rtps>
    </participant>

    <publisher profile_name="test_publisher_profile" is_default_profile="true">
        <topic>
            <name>xml_profiles_topic</name>
            <dataType>DurationTest</dataType>
            <kind>NO_KEY</kind>
            <historyQos>
                <kind>KEEP_LAST</kind>
                <depth>20</depth>
            </historyQos>
        </topic>
        <qos>
            <latencyBudget>
                <duration>
                      <sec>10</sec>
                </duration>
            </latencyBudget>
            <reliability>
                <kind>RELIABLE</kind>
            </reliability>
            <deadline>
                <period>
                    <sec>15</sec>
                </period>
            </deadline>
            <liveliness>
                <kind>MANUAL_BY_PARTICIPANT</kind>
                <lease_duration>
                    <sec>1</sec>
                    <nanosec>2</nanosec>
                </lease_duration>
                <announcement_period>
                    <sec>DURATION_INFINITY</sec>
                </announcement_period>
            </liveliness>
        </qos>
        <historyMemoryPolicy>PREALLOCATED</historyMemoryPolicy>
    </publisher>

    <subscriber profile_name="test_subscriber_profile" is_default_profile="true">
        <topic>
            <name>xml_profiles_topic</name>
            <dataType>DurationTest</dataType>
            <kind>NO_KEY</kind>
            <historyQos>
                <kind>KEEP_LAST</kind>
                <depth>20</depth>
            </historyQos>
        </topic>
        <qos>
            <latencyBudget>
                <duration>
                    <sec>20</sec>
                </duration>
            </latencyBudget>
            <reliability>
                <kind>RELIABLE</kind>
            </reliability>
            <deadline>
                <period>
                    <sec>DURATION_INFINITY</sec>
                </period>
            </deadline>
            <liveliness>
                <kind>MANUAL_BY_TOPIC</kind>
                <lease_duration>
                    <sec>DURATION_INFINITY</sec>
                </lease_duration>
                <announcement_period>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
                </announcement_period>
            </liveliness>
        </qos>
        <historyMemoryPolicy>PREALLOCATED</historyMemoryPolicy>
    </subscriber>

</profiles>
