Tailscale FastDDS Simple Discovery

fastdds_tailscale_simple.xml

<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
    <transport_descriptors>
        <transport_descriptor>
            <transport_id>TailscaleTransport</transport_id>
            <type>UDPv4</type>
        </transport_descriptor>
    </transport_descriptors>
    <participant profile_name="TailscaleSimple" is_default_profile="true">
        <rtps>
            <userTransports>
                <transport_id>TailscaleTransport</transport_id>
            </userTransports>
            <useBuiltinTransports>true</useBuiltinTransports>
            <builtin>
                <initialPeersList>
                <!-- Repeat this part for each Tailscale peer, use Tailscale machine/host name (from the admin console) -->
                    <locator>
                        <udpv4>
                            <address>rpi4</address> <!-- or <address>Tailscale IPv4 address</address> -->
                        </udpv4>
                    </locator>
                    <!-- End repeat -->
                    <locator>
                        <udpv4>
                            <address>laptop-wsl2</address> 
                        </udpv4>
                    </locator>
                </initialPeersList>
            </builtin>
        </rtps>
    </participant>
</profiles>