micro-ROS-Agent/micro_ros_agent/resource/rclcpp.xml

    <topic profile_name="parameter_events_t">
        <name>rt/parameter_events</name>
        <dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
    </topic>
     <topic profile_name="clock_t">
        <name>rt/clock</name>
        <dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
    </topic>
    <data_writer profile_name="parameter_events_p">
        <topic>
            <kind>NO_KEY</kind>
            <name>rt/parameter_events</name>
            <dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
        </topic>
    </data_writer>
    <data_reader profile_name="clock_s">
        <topic>
            <kind>NO_KEY</kind>
            <name>rt/clock</name>
            <dataType>rosgraph_msgs::msg::dds_::Clock_</dataType>
        </topic>
    </data_reader>
    <data_reader profile_name="parameter_events_s">
        <topic>
            <kind>NO_KEY</kind>
            <name>rt/parameter_events</name>
            <dataType>rcl_interfaces::msg::dds_::ParameterEvent_</dataType>
        </topic>
    </data_reader>