Refs #22056: Only disable builtin_transports when UDP server is not i…

…nitialized

Signed-off-by: cferreiragonz <[email protected]>

tools/fds/server.cpp

@@ -304,6 +304,8 @@ int fastdds_discovery_server(
     // Retrieve first TCP port
     option::Option* pO_tcp_port = options[TCP_PORT];
 
+    bool udp_server_initialized = true ? (pOp != nullptr || pO_port != nullptr) : false;
+
     /**
      * A locator has been initialized previously in [0.0.0.0] address using either the DEFAULT_ROS2_SERVER_PORT or the
      * port number set in the CLI. This locator must be used:
@@ -318,6 +320,7 @@ int fastdds_discovery_server(
         // Add default locator in cases a) and b)
         participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList.clear();
         participantQos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(locator4);
+        udp_server_initialized = true;
     }
     else if (nullptr == pOp && nullptr != pO_port)
     {
@@ -569,7 +572,7 @@ int fastdds_discovery_server(
     }
 
     fastdds::rtps::GuidPrefix_t guid_prefix = participantQos.wire_protocol().prefix;
-    participantQos.transport().use_builtin_transports = false;
+    participantQos.transport().use_builtin_transports = true ? udp_server_initialized : false;
 
     // Create the server
     int return_value = 0;