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Okay. I figured it out in ROS2 Galactic. The video was slightly wrong.

When you build ros2 you'll need to do:

colcon build --cmake-args -DFASTDDS_STATISTICS=on

vs the video showing

colcon build -DFASTDDS_STATISTICS=on

Once it's finished building then you should be able to view and plot the statistics using the fastdds monitor application.