diff --git a/rmw_fastrtps_cpp/src/rmw_node.cpp b/rmw_fastrtps_cpp/src/rmw_node.cpp
index 3d5555434..09153b064 100644
--- a/rmw_fastrtps_cpp/src/rmw_node.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_node.cpp
@@ -196,6 +196,10 @@ rmw_create_node(
   }
 
   ParticipantAttributes participantAttrs;
+
+  // Load default XML profile.
+  Domain::getDefaultParticipantAttributes(participantAttrs);
+
   participantAttrs.rtps.builtin.domainId = static_cast<uint32_t>(domain_id);
   participantAttrs.rtps.setName(name);
 
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
index 082a9cda8..27eb85e30 100644
--- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -81,6 +81,9 @@ rmw_create_publisher(
   PublisherAttributes publisherParam;
   const GUID_t * guid = nullptr;
 
+  // Load default XML profile.
+  Domain::getDefaultPublisherAttributes(publisherParam);
+
   // TODO(karsten1987) Verify consequences for std::unique_ptr?
   info = new CustomPublisherInfo();
   info->typesupport_identifier_ = type_support->typesupport_identifier;
diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
index 7827623de..318d35b97 100644
--- a/rmw_fastrtps_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -85,6 +85,9 @@ rmw_create_subscription(
   rmw_subscription_t * rmw_subscription = nullptr;
   SubscriberAttributes subscriberParam;
 
+  // Load default XML profile.
+  Domain::getDefaultSubscriberAttributes(subscriberParam);
+
   info = new CustomSubscriberInfo();
   info->typesupport_identifier_ = type_support->typesupport_identifier;