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The corresponding issue mentions this question and can be followed under this link: https://discourse.ros.org/t/discovery-problems-with-the-discovery-server/19900

To sum it up, there currently is a rather complicated XML-way to make CLI-Tools work on foxy, but the next patch should make it work without that workaround.

This outlook together with https://answers.ros.org/question/373070/ros2-topic-empty-with-fastdds-discovery-server/?answer=374083#post-id-374083 should be enough to consider the topic done.

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