diff --git a/uROS_Agent/resource/StaticValues.xml b/uROS_Agent/resource/StaticValues.xml
index 7444a10..1c0e831 100644
--- a/uROS_Agent/resource/StaticValues.xml
+++ b/uROS_Agent/resource/StaticValues.xml
@@ -1,39 +1,24 @@
-  <participant profile_name="participant_profile">
-    <rtps>
-      <builtin>
-      <leaseDuration>
-        <durationbyname>INFINITE</durationbyname>
-      </leaseDuration>
-        <domainId>0</domainId>
-      </builtin>
-      <name>DataReader_participant_subscriber</name>
-    </rtps>
-  </participant>
-  <publisher profile_name="publisher_profile">
-    <topic>
-      <kind>WITH_KEY</kind>
-      <name>Square</name>
-      <dataType>ShapeType</dataType>
-      <historyQos>
-        <kind>KEEP_LAST</kind>
-        <depth>5</depth>
-      </historyQos>
-      <durability>
-        <kind>TRANSIENT_LOCAL</kind>
-      </durability>
+    <participant profile_name="default_xrce_participant">
+        <rtps>
+            <name>default_xrce_participant</name>
+        </rtps>
+    </participant>
+    <data_writer profile_name="shapetype_data_writer">
+        <topic>
+            <kind>WITH_KEY</kind>
+            <name>Square</name>
+            <dataType>ShapeType</dataType>
+        </topic>
+    </data_writer>
+    <data_reader profile_name="shapetype_data_reader">
+        <topic>
+            <kind>WITH_KEY</kind>
+            <name>Square</name>
+            <dataType>ShapeType</dataType>
+        </topic>
+    </data_reader>
+    <topic profile_name="shapetype_topic">
+        <kind>WITH_KEY</kind>
+        <name>Square</name>
+        <dataType>ShapeType</dataType>
     </topic>
-  </publisher>
-  <subscriber profile_name="subscriber_profile">
-    <topic>
-      <kind>WITH_KEY</kind>
-      <name>Square</name>
-      <dataType>ShapeType</dataType>
-      <historyQos>
-        <kind>KEEP_LAST</kind>
-        <depth>5</depth>
-      </historyQos>
-      <durability>
-        <kind>TRANSIENT_LOCAL</kind>
-      </durability>
-    </topic>
-  </subscriber>
diff --git a/uROS_Agent/uros_agent/__init__.py b/uROS_Agent/uros_agent/__init__.py
index a785b15..612359e 100644
--- a/uROS_Agent/uros_agent/__init__.py
+++ b/uROS_Agent/uros_agent/__init__.py
@@ -165,45 +165,37 @@ def generate_XML(args):
             src_file = os.path.join(srcs_dir, "%s_%s_%s.xml" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
 
 
-            # Publisher
-            file_content  = "   <publisher profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
-            file_content += "       <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
-            file_content += "           <kind>NO_KEY</kind>\n"
-            file_content += "           <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
-            file_content += "           <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
-            file_content += "           <historyQos>\n"
-            file_content += "               <kind>KEEP_LAST</kind>\n"
-            file_content += "               <depth>5</depth>\n"
-            file_content += "           </historyQos>\n"
-            file_content += "           <durability>\n"
-            file_content += "               <kind>TRANSIENT_LOCAL</kind>\n"
-            file_content += "           </durability>\n"
-            file_content += "       </topic>\n"
-            file_content += "   </publisher>\n"
+            # Data writer
+            #file_content  = "   <dds>\n"
+            file_content  = "       <data_writer profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "               <kind>NO_KEY</kind>\n"
+            file_content += "               <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "               <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           </topic>\n"
+            file_content += "       </data_writer>\n"
+            #file_content += "   </dds>\n"
 
 
-            # Subscriber
-            file_content += "   <subscriber profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
-            file_content += "       <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
-            file_content += "           <kind>NO_KEY</kind>\n"
-            file_content += "           <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
-            file_content += "           <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
-            file_content += "           <historyQos>\n"
-            file_content += "               <kind>KEEP_LAST</kind>\n"
-            file_content += "               <depth>5</depth>\n"
-            file_content += "           </historyQos>\n"
-            file_content += "           <durability>\n"
-            file_content += "               <kind>TRANSIENT_LOCAL</kind>\n"
-            file_content += "           </durability>\n"
-            file_content += "       </topic>\n"
-            file_content += "   </subscriber>\n"
+            # Data reader
+            #file_content += "   <dds>\n"
+            file_content += "       <data_reader profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "               <kind>NO_KEY</kind>\n"
+            file_content += "               <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "               <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           </topic>\n"
+            file_content += "       </data_reader>\n"
+            #file_content += "   </dds>\n"
 
 
             # Topic
-            file_content += "   <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
-            file_content += "       <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
-            file_content += "       <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
-            file_content += "   </topic>\n"
+            #file_content += "   <dds>\n"
+            file_content += "       <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "           <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
+            file_content += "       </topic>\n"
+            #file_content += "   </dds>\n"
 
 
             # Write file content