{ "application_library": { "name": "MyApplicationLibrary", "applications": [ { "name": "MyApplication", "domain_participants": [ { "name": "HelloParticipant", "domain_id": 32, "register_types": [ { "name": "HelloWorld", "type_ref": "HelloWorld" } ], "topics": [ { "name": "HelloMessage", "register_type_ref": "HelloWorld" } ], "publishers": [ { "name": "HelloPublisher", "data_writers": [ { "name": "HelloWriter", "topic_ref": "HelloMessage" } ] } ], "domain_participant_qos": { "entity_factory": { "autoenable_created_entities": false } } } ] }, { "name": "AnotherApplication", "domain_participants": [ { "name": "ShapesParticipant", "domain_ref": "ADomainLibrary::ShapeDomain", "domain_id": 127, "publishers": [ { "name": "MyPublisher", "data_writers": [ { "name": "MySquareWriter", "topic_ref": "Square" }, { "name": "MyCircleWriter", "topic_ref": "Circle" }, { "name": "MyTriangleReader", "topic_ref": "Triangle" } ] } ], "subscribers": [ { "name": "MySubscriber", "data_readers": [ { "name": "MySquareReader", "topic_ref": "Square" }, { "name": "MyCircleReader", "topic_ref": "Circle" }, { "name": "MyTriangleReader", "topic_ref": "Triangle" } ] } ], "domain_participant_qos": { "entity_factory": { "autoenable_created_entities": false } } } ] } ] } }