Add default subscriber profile in ROS 2 XML configuration (#910) (#914)

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
(cherry picked from commit 6e60196)

Co-authored-by: Mario Domínguez López <116071334+Mario-DL@users.noreply.github.com>

Author: mergify[bot]

code/XMLTester.xml

@@ -2209,6 +2209,11 @@
         <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
     </data_writer>
 
+    <!-- Default subscriber profile -->
+    <data_reader profile_name="default subscriber profile" is_default_profile="true">
+        <historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
+    </data_reader>
+
     <!-- Publisher profile for topic helloworld -->
     <data_writer profile_name="helloworld">
         <qos>