Tailscale FastDDS Discovery Server

fastdds_tailscale_discovery.xml

<?xml version="1.0" encoding="UTF-8" ?>
<dds>
    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
        <participant profile_name="TailscaleDiscoveryServer" is_default_profile="true">
            <rtps>
                <builtin>
                    <discovery_config>
                        <discoveryProtocol>SUPER_CLIENT</discoveryProtocol>
                        <discoveryServersList>
                            <RemoteServer prefix="44.53.00.5f.45.50.52.4f.53.49.4d.41">
                                <metatrafficUnicastLocatorList>
                                <!-- Repeat this part for each server on the Tailscale network, use Tailscale machine/host name (from admin console) -->
                                    <locator>
                                        <udpv4>
                                            <address>rpi4</address> <!-- or <address>Tailscale IPv4 address</address> -->
                                            <port>11811</port>
                                        </udpv4>
                                    </locator>
                                <!-- End repeat -->
                                </metatrafficUnicastLocatorList>
                            </RemoteServer>
                        </discoveryServersList>
                    </discovery_config>
                </builtin>
            </rtps>
        </participant>
    </profiles>