<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

    <!-- 默认发布者配置 -->
    <publisher profile_name="default_publisher" is_default_profile="true">
        <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
    </publisher>

    <!-- 默认订阅者配置 -->
    <subscriber profile_name="default_subscriber" is_default_profile="true">
        <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
    </subscriber>

   <!-- 话题 chatter 的发布者配置 -->
    <publisher profile_name="/chatter">
        <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
        <matchedSubscribersAllocation>
            <initial>0</initial>
            <maximum>1</maximum>
            <increment>1</increment>
        </matchedSubscribersAllocation>
    </publisher>
</profiles>