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I got rid of this issue by:

1. First setting my locale from German to English, then rebuilding from source and ignoring opensplice (as I actually do not need it). I do not know, if this step was really necessary.
2. Reinstalling tinyxml2 as the respecting dll was not missing but unloadable. Actually, I followed these hints and reinstalled the dependencies asio, eigen, tinyxml-usestl and tinyxml2.

See also this issue as info: FastRTPS fails to find asio and tinyxml2 on Windows; and this info when you encounter problems uninstalling dependencies. I had issues reinstalling tinyxml2, so I had to remove the respecting registry entry manually because chocolatey would not install it otherwise.

Following these steps, the talker and listener nodes run as expected.