Use appropriate XML to enable data-sharing delivery

irobot_benchmark/CMakeLists.txt

@@ -102,8 +102,8 @@ install(FILES
   DESTINATION lib/${PROJECT_NAME}/${MP})
 
 set(PROFILES
-  profiles/fastdds_settings_shm.xml
-  profiles/ignore_local_endpoints.xml)
+  profiles/ignore_local_endpoints.xml
+  profiles/shared_memory_fastdds_config.xml)
 
 install(FILES
   ${PROFILES}

irobot_benchmark/profiles/shared_memory_fastdds_config.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+
+  <!-- Default publisher profile -->
+  <data_writer profile_name="default publisher profile" is_default_profile="true">
+    <qos>
+      <publishMode>
+        <kind>ASYNCHRONOUS</kind>
+      </publishMode>
+      <data_sharing>
+        <kind>AUTOMATIC</kind>
+      </data_sharing>
+    </qos>
+    <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
+  </data_writer>
+
+  <data_reader profile_name="default subscription profile" is_default_profile="true">
+    <qos>
+      <data_sharing>
+        <kind>AUTOMATIC</kind>
+      </data_sharing>
+    </qos>
+    <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
+  </data_reader>
+
+</profiles>