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Go2_navigation/unitree_slam/config/slam_interfaces_server_config/cyclonedds.xml

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<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
<Domain Id="any">
<General>
<Interfaces>
<NetworkInterface name="enp2s0" priority="default" multicast="default" />
</Interfaces>
<AllowMulticast>spdp</AllowMulticast>
</General>
</Domain>
</CycloneDDS>