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In Bouncy, you need to create a DEFAULT_FASTRTPS_PROFILES.xml that looks like below

<?xml version="1.0" encoding="UTF-8" ?$>
<profiles>
    <participant profile_name="participant_somename" is_default_profile="true">
        <rtps>
            <builtin>
                <domainId>4</domainId>
                <initialPeersList>
                    <locator>
                        <kind>UDPv4</kind>
                        <address>X.X.X.X</address>
                    </locator>
                    <locator>
                        <kind>UDPv4</kind>
                        <address>Y.Y.Y.Y</address>
                    </locator>
                    <locator>
                        <kind>UDPv4</kind>
                        <address>Z.Z.Z.Z</address>
                    </locator>
                </initialPeersList>
            </builtin>
        </rtps>
    </participant>
</profiles>

 

Where X.X.X.X, Y.Y.Y.Y and Z.Z.Z.Z are ip addresses of the peers