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It is recommended to use micro-ROS component for ESP32 IDF. There you will be able to configure the parameters and IP adresses.

In general, you should configure in the client the IP address where the agent is. Remember that you also have a run time API for doing so: https://github.com/micro-ROS/rmw-microxrcedds/blob/87695391b783fd8d4c3e0f7cdf2dd71f3f7c2b75/rmw_microxrcedds_c/include/rmw_microros/init_options.h#L73