Can only create whitelisting with IP, also set to default profile.

docker/Dockerfile

@@ -55,7 +55,7 @@ RUN git clone --recursive --depth 1 https://github.com/107-systems/robotem_rovne
 
 WORKDIR /opt/colcon_ws
 
-COPY fastrtps-whitelist-wlan.xml /opt/colcon_ws
+COPY fastrtps-whitelist-wlan.sh /opt/colcon_ws
 ENV FASTRTPS_DEFAULT_PROFILES_FILE=/opt/colcon_ws/fastrtps-whitelist-wlan.xml
 ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 

docker/fastrtps-whitelist-wlan.sh

@@ -0,0 +1,47 @@
+#!/bin/bash
+set -euo pipefail
+IFS=$'\n\t'
+
+# Fast-DDS https://fast-dds.docs.eprosima.com/en/latest/fastdds/transport/whitelist.html
+# needs actual ip for this interface
+interface=wlan0
+ipinet="$(ip a s $interface | egrep -o 'inet [0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}')"
+echo "<?xml version=\"1.0\" encoding=\"UTF-8\" ?>
+<profiles xmlns=\"http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles\">
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>CustomUDPTransport</transport_id>
+            <type>UDPv4</type>
+            <interfaceWhiteList>
+                <address>${ipinet##inet }</address>
+            </interfaceWhiteList>
+        </transport_descriptor>
+
+        <transport_descriptor>
+            <transport_id>CustomTcpTransport</transport_id>
+            <type>TCPv4</type>
+            <interfaceWhiteList>
+                <address>${ipinet##inet }</address>
+            </interfaceWhiteList>
+        </transport_descriptor>
+
+    </transport_descriptors>
+
+    <participant profile_name=\"CustomUDPTransportParticipant\" is_default_profile=\"true\">
+        <rtps>
+            <userTransports>
+                <transport_id>CustomUDPTransport</transport_id>
+            </userTransports>
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+
+    <participant profile_name=\"CustomTcpTransportParticipant\" is_default_profile=\"true\">
+        <rtps>
+             <userTransports>
+                 <transport_id>CustomTcpTransport</transport_id>
+             </userTransports>
+             <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>" > fastrtps-whitelist-wlan.xml