Add parameter in dds templete to allow 'ros_discovery_info' topic

Signed-off-by: Ivan Santiago Paunovic <[email protected]>
ros2 · Mar 16, 2020 · 8bf8974 · 8bf8974
1 parent 0b873ad
commit 8bf8974
Showing 1 changed file with 17 additions and 0 deletions.
diff --git a/sros2/sros2/policy/templates/dds/permissions.xsl b/sros2/sros2/policy/templates/dds/permissions.xsl
@@ -20,6 +20,8 @@
   </domains>
 </xsl:variable>
 
+<xsl:param name="allow_ros_discovery_topic" select="0"/>
+
 <xsl:template match="/policy/contexts">
   <xsl:variable name="dds">
     <dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
@@ -57,6 +59,21 @@
                   </xsl:for-each>
                 </allow_rule>
               </xsl:if>
+              <xsl:if test="$allow_ros_discovery_topic">
+                <allow_rule>
+                  <xsl:copy-of select="$template_domains"/>
+                  <publish>
+                    <topics>
+                      <topic>ros_discovery_info</topic>
+                    </topics>
+                  </publish>
+                  <subscribe>
+                    <topics>
+                      <topic>ros_discovery_info</topic>
+                    </topics>
+                  </subscribe>
+                </allow_rule>
+              </xsl:if>
               <default>DENY</default>
             </grant>
           </xsl:for-each>