ACL Interface not being found (ROS2 Humble)

[Elonchewa]

Generated by Generative AI

No response

Operating System:

Linux RR06 6.8.0-65-generic #68~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue Jul 15 18:06:34 UTC 2 x86_64 x86_64 x86_64 GNU/Linux

ROS version or commit hash:

Humble

RMW implementation (if applicable):

rmw_zenoh_cpp

RMW Configuration (if applicable):

No response

Client library (if applicable):

No response

'ros2 doctor --report' output

ros2 doctor --report

   NETWORK CONFIGURATION
inet         : 127.0.0.1
inet4        : ['127.0.0.1']
inet6        : ['::1']
netmask      : 255.0.0.0
device       : lo
flags        : 73<LOOPBACK,UP,RUNNING>
mtu          : 65536
inet         : 192.168.0.176
inet4        : ['192.168.0.176']
ether        : cc:47:40:3f:0f:ab
inet6        : ['fe80::b810:e17e:7c8a:e58c%wlP1p1s0']
netmask      : 255.255.255.0
device       : wlP1p1s0
flags        : 4163<UP,BROADCAST,RUNNING,MULTICAST>
mtu          : 1500
broadcast    : 192.168.0.255
inet         : 192.168.10.2
inet4        : ['192.168.10.2']
ether        : 48:b0:2d:eb:f8:77
inet6        : ['fe80::3969:64f2:f351:c8d9%enP8p1s0']
netmask      : 255.255.255.0
device       : enP8p1s0
flags        : 4163<UP,BROADCAST,RUNNING,MULTICAST>
mtu          : 1500
broadcast    : 192.168.10.255
inet         : 172.17.0.1
inet4        : ['172.17.0.1']
ether        : e2:81:e0:26:72:1a
netmask      : 255.255.0.0
device       : docker0
flags        : 4099<UP,BROADCAST,MULTICAST>
mtu          : 1500
broadcast    : 172.17.255.255
ether        : 3e:c7:e7:79:f3:87
device       : l4tbr0
flags        : 4098<MULTICAST,BROADCAST>
mtu          : 1500
ether        : 6e:9b:f5:fd:7d:49
device       : usb0
flags        : 4099<UP,BROADCAST,MULTICAST>
mtu          : 1500
ether        : 6e:9b:f5:fd:7d:4b
device       : usb1
flags        : 4099<UP,BROADCAST,MULTICAST>
mtu          : 1500

   PACKAGE VERSIONS
rover_sensors                             : latest=, local=0.1.0
rover_navigation                          : latest=, local=0.1.0
rover_description                         : latest=, local=0.1.0
rover_control                             : latest=, local=0.1.0
realsense2_description                    : latest=4.56.4, local=4.55.1
realsense2_camera                         : latest=4.56.4, local=4.55.1
realsense2_camera_msgs                    : latest=4.56.4, local=4.55.1
ros_system_monitor                        : latest=, local=0.0.0
ros_system_monitor_msgs                   : latest=, local=0.0.0
ros2_numpy                                : latest=, local=2.0.12
roman_ugv                                 : latest=, local=0.0.0
roman_ros2                                : latest=, local=0.0.0
roman_msgs                                : latest=, local=0.0.0
pose_graph_tools_ros                      : latest=, local=1.0.0
pose_graph_tools_msgs                     : latest=, local=1.0.0
teleop_twist_joy                          : latest=2.4.8, local=2.4.8
ament_cmake_copyright                     : latest=0.12.14, local=0.12.14
qt_gui_cpp                                : latest=2.2.4, local=2.2.4
ament_cmake_gtest                         : latest=1.3.12, local=1.3.12
lifecycle                                 : latest=0.20.5, local=0.20.5
ament_flake8                              : latest=0.12.14, local=0.12.14
ament_lint                                : latest=0.12.14, local=0.12.14
rosbag2_storage_default_plugins           : latest=0.15.15, local=0.15.15
rqt_common_plugins                        : latest=1.2.0, local=1.2.0
rosidl_generator_c                        : latest=3.1.7, local=3.1.7
dummy_sensors                             : latest=0.20.5, local=0.20.5
ament_cmake_cppcheck                      : latest=0.12.14, local=0.12.14
robot_state_publisher                     : latest=3.0.3, local=3.0.3
shape_msgs                                : latest=4.9.0, local=4.9.0
kdl_parser                                : latest=2.6.4, local=2.6.4
examples_rclcpp_minimal_service           : latest=0.15.4, local=0.15.4
ament_cmake_auto                          : latest=1.3.12, local=1.3.12
examples_rclpy_minimal_service            : latest=0.15.4, local=0.15.4
tf2_kdl                                   : latest=0.25.16, local=0.25.15
sensor_msgs_py                            : latest=4.9.0, local=4.9.0
ament_cmake_lint_cmake                    : latest=0.12.14, local=0.12.14
pcl_msgs                                  : latest=1.0.0, local=1.0.0
rcl_yaml_param_parser                     : latest=5.3.10, local=5.3.10
rosidl_cli                                : latest=3.1.7, local=3.1.7
examples_rclpy_minimal_subscriber         : latest=0.15.4, local=0.15.4
interactive_markers                       : latest=2.3.2, local=2.3.2
examples_rclcpp_minimal_composition       : latest=0.15.4, local=0.15.4
ros2interface                             : latest=0.18.13, local=0.18.13
ament_uncrustify                          : latest=0.12.14, local=0.12.14
ament_cmake_test                          : latest=1.3.12, local=1.3.12
ament_cmake_gmock                         : latest=1.3.12, local=1.3.12
urdf_parser_plugin                        : latest=2.6.1, local=2.6.1
ros2cli_common_extensions                 : latest=0.1.1, local=0.1.1
teleop_twist_keyboard                     : latest=2.4.0, local=2.4.0
rosidl_typesupport_interface              : latest=3.1.7, local=3.1.7
examples_rclpy_executors                  : latest=0.15.4, local=0.15.4
quality_of_service_demo_cpp               : latest=0.20.5, local=0.20.5
common_interfaces                         : latest=4.9.0, local=4.9.0
cv_bridge                                 : latest=3.2.1, local=3.2.1
rosidl_typesupport_fastrtps_cpp           : latest=2.2.2, local=2.2.2
sdl2_vendor                               : latest=3.3.0, local=3.3.0
pendulum_msgs                             : latest=0.20.5, local=0.20.5
rosbag2_cpp                               : latest=0.15.15, local=0.15.15
ament_cmake_pep257                        : latest=0.12.14, local=0.12.14
rqt_publisher                             : latest=1.5.0, local=1.5.0
rcl                                       : latest=5.3.10, local=5.3.10
nav_msgs                                  : latest=4.9.0, local=4.9.0
domain_coordinator                        : latest=0.10.0, local=0.10.0
ament_cmake_export_libraries              : latest=1.3.12, local=1.3.12
examples_rclcpp_minimal_timer             : latest=0.15.4, local=0.15.4
ament_cmake_export_interfaces             : latest=1.3.12, local=1.3.12
statistics_msgs                           : latest=1.2.2, local=1.2.2
ros2action                                : latest=0.18.13, local=0.18.13
rclcpp_action                             : latest=16.0.14, local=16.0.14
orocos_kdl_vendor                         : latest=0.2.5, local=0.2.5
ros2bag                                   : latest=0.15.15, local=0.15.15
rqt_image_view                            : latest=1.2.0, local=1.2.0
rqt_srv                                   : latest=1.0.3, local=1.0.3
rqt_shell                                 : latest=1.0.2, local=1.0.2
ros2component                             : latest=0.18.13, local=0.18.13
rqt_gui_cpp                               : latest=1.1.7, local=1.1.7
pluginlib                                 : latest=5.1.0, local=5.1.0
rpyutils                                  : latest=0.2.1, local=0.2.1
rosbag2_compression                       : latest=0.15.15, local=0.15.15
examples_rclpy_minimal_action_client      : latest=0.15.4, local=0.15.4
tlsf                                      : latest=0.7.0, local=0.7.0
rqt_console                               : latest=2.0.3, local=2.0.3
rmw_implementation_cmake                  : latest=6.1.2, local=6.1.2
rqt_py_common                             : latest=1.1.7, local=1.1.7
demo_nodes_py                             : latest=0.20.5, local=0.20.5
visualization_msgs                        : latest=4.9.0, local=4.9.0
rttest                                    : latest=0.13.0, local=0.13.0
pcl_conversions                           : latest=2.4.5, local=2.4.5
examples_rclcpp_minimal_action_server     : latest=0.15.4, local=0.15.4
dummy_map_server                          : latest=0.20.5, local=0.20.5
ros2param                                 : latest=0.18.13, local=0.18.13
launch_ros                                : latest=0.19.10, local=0.19.10
tf2_geometry_msgs                         : latest=0.25.16, local=0.25.15
rosidl_typesupport_introspection_c        : latest=3.1.7, local=3.1.7
ament_cppcheck                            : latest=0.12.14, local=0.12.14
ament_cmake_export_definitions            : latest=1.3.12, local=1.3.12
rosbag2_transport                         : latest=0.15.15, local=0.15.15
python_orocos_kdl_vendor                  : latest=0.2.5, local=0.2.5
action_tutorials_py                       : latest=0.20.5, local=0.20.5
ament_cmake                               : latest=1.3.12, local=1.3.12
tf2_msgs                                  : latest=0.25.16, local=0.25.15
rqt_graph                                 : latest=1.3.1, local=1.3.1
sros2_cmake                               : latest=0.10.7, local=0.10.7
stereo_msgs                               : latest=4.9.0, local=4.9.0
builtin_interfaces                        : latest=1.2.2, local=1.2.2
rosidl_generator_py                       : latest=0.14.5, local=0.14.5
qt_gui_py_common                          : latest=2.2.4, local=2.2.4
rosidl_generator_cpp                      : latest=3.1.7, local=3.1.7
ament_cmake_flake8                        : latest=0.12.14, local=0.12.14
rosidl_typesupport_cpp                    : latest=2.0.2, local=2.0.2
libyaml_vendor                            : latest=1.2.2, local=1.2.2
rcpputils                                 : latest=2.4.5, local=2.4.5
pendulum_control                          : latest=0.20.5, local=0.20.5
rqt_action                                : latest=2.0.1, local=2.0.1
rclpy                                     : latest=3.3.17, local=3.3.17
launch_yaml                               : latest=1.0.10, local=1.0.10
rosbag2_storage                           : latest=0.15.15, local=0.15.15
rosbag2_compression_zstd                  : latest=0.15.15, local=0.15.15
tf2_py                                    : latest=0.25.16, local=0.25.15
launch_pytest                             : latest=1.0.10, local=1.0.10
action_tutorials_interfaces               : latest=0.20.5, local=0.20.5
fastrtps_cmake_module                     : latest=2.2.2, local=2.2.2
rosidl_typesupport_c                      : latest=2.0.2, local=2.0.2
rviz_rendering                            : latest=11.2.19, local=11.2.19
ament_pep257                              : latest=0.12.14, local=0.12.14
ament_cmake_core                          : latest=1.3.12, local=1.3.12
examples_rclcpp_multithreaded_executor    : latest=0.15.4, local=0.15.4
ros2node                                  : latest=0.18.13, local=0.18.13
tf2_ros                                   : latest=0.25.16, local=0.25.15
tinyxml2_vendor                           : latest=0.7.6, local=0.7.6
image_tools                               : latest=0.20.5, local=0.20.5
sros2                                     : latest=0.10.7, local=0.10.7
depthimage_to_laserscan                   : latest=2.5.1, local=2.5.1
rviz_default_plugins                      : latest=11.2.19, local=11.2.19
ament_cmake_uncrustify                    : latest=0.12.14, local=0.12.14
topic_monitor                             : latest=0.20.5, local=0.20.5
uncrustify_vendor                         : latest=2.0.2, local=2.0.2
ros_environment                           : latest=3.2.2, local=3.2.2
python_cmake_module                       : latest=0.10.0, local=0.10.0
ament_index_python                        : latest=1.4.0, local=1.4.0
diagnostic_msgs                           : latest=4.9.0, local=4.9.0
rosidl_typesupport_fastrtps_c             : latest=2.2.2, local=2.2.2
rcl_logging_interface                     : latest=2.3.1, local=2.3.1
ros2pkg                                   : latest=0.18.13, local=0.18.13
rmw                                       : latest=6.1.2, local=6.1.2
ament_xmllint                             : latest=0.12.14, local=0.12.14
sensor_msgs                               : latest=4.9.0, local=4.9.0
example_interfaces                        : latest=0.9.3, local=0.9.3
angles                                    : latest=1.15.0, local=1.15.0
launch_testing_ros                        : latest=0.19.10, local=0.19.10
ament_copyright                           : latest=0.12.14, local=0.12.14
rviz_assimp_vendor                        : latest=11.2.19, local=11.2.19
rclcpp_lifecycle                          : latest=16.0.14, local=16.0.14
ament_lint_cmake                          : latest=0.12.14, local=0.12.14
examples_rclcpp_minimal_client            : latest=0.15.4, local=0.15.4
yaml_cpp_vendor                           : latest=8.0.2, local=8.0.2
rqt_service_caller                        : latest=1.0.5, local=1.0.5
rcl_lifecycle                             : latest=5.3.10, local=5.3.10
rmw_zenoh_cpp                             : latest=0.1.4, local=0.1.4
rqt_gui                                   : latest=1.1.7, local=1.1.7
ros_base                                  : latest=0.10.0, local=0.10.0
rosidl_runtime_c                          : latest=3.1.7, local=3.1.7
rmw_dds_common                            : latest=1.6.0, local=1.6.0
ros2topic                                 : latest=0.18.13, local=0.18.13
trajectory_msgs                           : latest=4.9.0, local=4.9.0
ros2launch                                : latest=0.19.10, local=0.19.10
joy                                       : latest=3.3.0, local=3.3.0
ament_cmake_export_dependencies           : latest=1.3.12, local=1.3.12
demo_nodes_cpp                            : latest=0.20.5, local=0.20.5
xacro                                     : latest=2.0.13, local=2.0.13
rqt_reconfigure                           : latest=1.1.2, local=1.1.2
rosidl_parser                             : latest=3.1.7, local=3.1.7
std_srvs                                  : latest=4.9.0, local=4.9.0
ament_cmake_include_directories           : latest=1.3.12, local=1.3.12
rcutils                                   : latest=5.1.6, local=5.1.6
tlsf_cpp                                  : latest=0.13.0, local=0.13.0
ament_cmake_libraries                     : latest=1.3.12, local=1.3.12
rqt_py_console                            : latest=1.0.2, local=1.0.2
rviz_ogre_vendor                          : latest=11.2.19, local=11.2.19
examples_rclcpp_minimal_publisher         : latest=0.15.4, local=0.15.4
qt_gui                                    : latest=2.2.4, local=2.2.4
ament_cmake_export_link_flags             : latest=1.3.12, local=1.3.12
launch_xml                                : latest=1.0.10, local=1.0.10
tf2_tools                                 : latest=0.25.16, local=0.25.15
ament_cmake_export_include_directories    : latest=1.3.12, local=1.3.12
rosbag2                                   : latest=0.15.15, local=0.15.15
ament_cmake_export_targets                : latest=1.3.12, local=1.3.12
ros2run                                   : latest=0.18.13, local=0.18.13
tango_icons_vendor                        : latest=0.1.1, local=0.1.1
actionlib_msgs                            : latest=4.9.0, local=4.9.0
diagnostic_updater                        : latest=4.0.6, local=4.0.6
rosbag2_py                                : latest=0.15.15, local=0.15.15
sqlite3_vendor                            : latest=0.15.15, local=0.15.15
rosgraph_msgs                             : latest=1.2.2, local=1.2.2
laser_geometry                            : latest=2.4.0, local=2.4.0
osrf_pycommon                             : latest=2.1.6, local=2.1.6
ros2service                               : latest=0.18.13, local=0.18.13
tf2                                       : latest=0.25.16, local=0.25.15
eigen3_cmake_module                       : latest=0.1.1, local=0.1.1
keyboard_handler                          : latest=0.0.5, local=0.0.5
launch_testing_ament_cmake                : latest=1.0.10, local=1.0.10
ros2cli                                   : latest=0.18.13, local=0.18.13
rmw_fastrtps_cpp                          : latest=6.2.8, local=6.2.8
console_bridge_vendor                     : latest=1.4.1, local=1.4.1
rmw_fastrtps_shared_cpp                   : latest=6.2.8, local=6.2.8
urdf                                      : latest=2.6.1, local=2.6.1
ament_cmake_cpplint                       : latest=0.12.14, local=0.12.14
lifecycle_msgs                            : latest=1.2.2, local=1.2.2
launch_testing                            : latest=1.0.10, local=1.0.10
ros2multicast                             : latest=0.18.13, local=0.18.13
tracetools                                : latest=4.1.1, local=4.1.1
rosidl_runtime_py                         : latest=0.9.3, local=0.9.3
message_filters                           : latest=4.3.8, local=4.3.8
image_transport                           : latest=3.1.12, local=3.1.12
rviz2                                     : latest=11.2.19, local=11.2.19
rosidl_runtime_cpp                        : latest=3.1.7, local=3.1.7
examples_rclpy_minimal_client             : latest=0.15.4, local=0.15.4
shared_queues_vendor                      : latest=0.15.15, local=0.15.15
logging_demo                              : latest=0.20.5, local=0.20.5
geometry2                                 : latest=0.25.16, local=0.25.15
rviz_common                               : latest=11.2.19, local=11.2.19
ros_core                                  : latest=0.10.0, local=0.10.0
tinyxml_vendor                            : latest=0.8.3, local=0.8.3
ros2doctor                                : latest=0.18.13, local=0.18.13
tf2_bullet                                : latest=0.25.16, local=0.25.15
launch                                    : latest=1.0.10, local=1.0.10
rqt_bag_plugins                           : latest=1.1.5, local=1.1.5
ament_cpplint                             : latest=0.12.14, local=0.12.14
ament_cmake_version                       : latest=1.3.12, local=1.3.12
qt_dotgraph                               : latest=2.2.4, local=2.2.4
ament_index_cpp                           : latest=1.4.0, local=1.4.0
geometry_msgs                             : latest=4.9.0, local=4.9.0
tf2_ros_py                                : latest=0.25.16, local=0.25.15
rqt_msg                                   : latest=1.2.0, local=1.2.0
tf2_sensor_msgs                           : latest=0.25.16, local=0.25.15
zstd_vendor                               : latest=0.15.15, local=0.15.15
class_loader                              : latest=2.2.0, local=2.2.0
rqt_plot                                  : latest=1.1.5, local=1.1.5
rclcpp                                    : latest=16.0.14, local=16.0.14
ament_lint_auto                           : latest=0.12.14, local=0.12.14
std_msgs                                  : latest=4.9.0, local=4.9.0
ament_cmake_python                        : latest=1.3.12, local=1.3.12
rosbag2_interfaces                        : latest=0.15.15, local=0.15.15
ament_cmake_xmllint                       : latest=0.12.14, local=0.12.14
examples_rclcpp_minimal_action_client     : latest=0.15.4, local=0.15.4
rmw_implementation                        : latest=2.8.5, local=2.8.5
ament_lint_common                         : latest=0.12.14, local=0.12.14
rosidl_default_runtime                    : latest=1.2.0, local=1.2.0
rcl_interfaces                            : latest=1.2.2, local=1.2.2
python_qt_binding                         : latest=1.1.2, local=1.1.2
libcurl_vendor                            : latest=3.1.3, local=3.1.3
image_geometry                            : latest=3.2.1, local=3.2.1
action_tutorials_cpp                      : latest=0.20.5, local=0.20.5
composition_interfaces                    : latest=1.2.2, local=1.2.2
composition                               : latest=0.20.5, local=0.20.5
tf2_eigen                                 : latest=0.25.16, local=0.25.15
ament_cmake_pytest                        : latest=1.3.12, local=1.3.12
rosidl_adapter                            : latest=3.1.7, local=3.1.7
pybind11_vendor                           : latest=2.4.2, local=2.4.2
examples_rclcpp_minimal_subscriber        : latest=0.15.4, local=0.15.4
rcl_action                                : latest=5.3.10, local=5.3.10
ament_package                             : latest=0.14.1, local=0.14.1
rclcpp_components                         : latest=16.0.14, local=16.0.14
rcl_logging_spdlog                        : latest=2.3.1, local=2.3.1
intra_process_demo                        : latest=0.20.5, local=0.20.5
desktop                                   : latest=0.10.0, local=0.10.0
rosidl_cmake                              : latest=3.1.7, local=3.1.7
examples_rclpy_minimal_publisher          : latest=0.15.4, local=0.15.4
ament_cmake_target_dependencies           : latest=1.3.12, local=1.3.12
quality_of_service_demo_py                : latest=0.20.5, local=0.20.5
ros_workspace                             : latest=1.0.2, local=1.0.2
examples_rclpy_minimal_action_server      : latest=0.15.4, local=0.15.4
rqt_gui_py                                : latest=1.1.7, local=1.1.7
rosidl_typesupport_introspection_cpp      : latest=3.1.7, local=3.1.7
map_msgs                                  : latest=2.1.0, local=2.1.0
resource_retriever                        : latest=3.1.3, local=3.1.3
ament_cmake_gen_version_h                 : latest=1.3.12, local=1.3.12
turtlesim                                 : latest=1.4.2, local=1.4.2
rqt_bag                                   : latest=1.1.5, local=1.1.5
unique_identifier_msgs                    : latest=2.2.1, local=2.2.1
demo_nodes_cpp_native                     : latest=0.20.5, local=0.20.5
dummy_robot_bringup                       : latest=0.20.5, local=0.20.5
zenoh_cpp_vendor                          : latest=0.1.4, local=0.1.4
rqt_topic                                 : latest=1.5.0, local=1.5.0
rosidl_default_generators                 : latest=1.2.0, local=1.2.0
action_msgs                               : latest=1.2.2, local=1.2.2
tf2_eigen_kdl                             : latest=0.25.16, local=0.25.15
spdlog_vendor                             : latest=1.3.1, local=1.3.1
ament_cmake_ros                           : latest=0.10.0, local=0.10.0
libstatistics_collector                   : latest=1.3.4, local=1.3.4
tf_transformations                        : latest=1.1.0, local=1.1.0
ros2lifecycle                             : latest=0.18.13, local=0.18.13

   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-5.15.148-tegra-aarch64-with-glibc2.35
release          : 5.15.148-tegra
processor        : aarch64

   QOS COMPATIBILITY LIST
compatibility status    : No publisher/subscriber pairs found

   RMW MIDDLEWARE
middleware name    : rmw_zenoh_cpp

   ROS 2 INFORMATION
distribution name      : humble
distribution type      : ros2
distribution status    : active
release platforms      : {'rhel': ['8'], 'ubuntu': ['jammy']}

   TOPIC LIST
topic               : none
publisher count     : 0
subscriber count    : 0

Steps to reproduce issue

1. Connect two devices/routers with zenoh (all topics are sent without an issue)
2. Use the following ACL configuration to limit what topics are sent from one to another:
   access_control: { "enabled": true, "default_permission": "allow", "rules": [ { "id": "rule1", "messages": [ "put", "declare_subscriber", ], "flows":["ingress", "egress"], "permission": "deny", "key_exprs": [ "*/chatter/**", ], }, ], "subjects": [ { "id": "subject1", "interfaces": [ "enP8p1s0" ], }, ], "policies": [ { "rules": ["rule1"], "subjects": ["subject1"], }, ] },

Expected behavior

All topics but chatter from the other device to be displayed when running ros2 topic list

Actual behavior

Error message: did not match any configured ACL subject. Default permission Allow` will be applied on all messages

`
And all topics including chatter will be sent accross.

Additional information

No response

[Yadunund]

@Elonchewa please provide the exact version of rmw_zenoh used on Humble.

More importantly, please provide more detailed steps to reproduce including the exact commands ran on each device, device details, configs for routers and sessions on each device, and if possible, a link to a repo that would allow someone to reproduce the issue by following a set of instructions.

[JEnoch]

Hi @Elonchewa ,
such INFO log:
bb4e438d969ff5ed5e292700c007ac37 did not match any configured ACL subject. Default permission "Allow" will be applied on all messages
is not an error message but probably relates to the link over the loopback interface between the Router and a ROS Node.
It's expected since no rule applies to the loopback insterface (lo).
But the Router will still apply the ACL rule when trying to route the message from lo to enP8p1s0.

However, looking at your ACL config it seems to be lacking the denial of some messages.
In recent versions, rmw_zenoh is implementing TRANSIENT_LOCAL and RELIABLE QoS using a Zenoh AdvancedPublisher which declares a Queryable allowing Subscribers to retrieve historical and missed publications.
If declaration and replies from this Queryable are not blocked, the Subscriber's queries will bypass the ACL config on PUT messages and get data.

Please, try with this ACL configuration and let us now if it works for you:

access_control: {
  enabled: true,
  default_permission: "allow",   // allow all by default
  /// List of rules
  rules: [
    {
      // Rule identifier
      id: "rule1",
      // Deny publications ("put" Zenoh operation) and missed data retrieval in egress on WiFi interface for a Zenoh key expression
      permission: "deny",
      messages: [ "put", "declare_subscriber", "declare_queryable", "query", "reply" ],
      flows:["ingress", "egress"],
      key_exprs: [
        // The Zenoh key expression used for the "/chatter" topic
        //"0/chatter/std_msgs::msg::dds_::String_/RIHS01_df668c740482bbd48fb39d76a70dfd4bd59db1288021743503259e948f6b1a18"
        "*/chatter/**",  
        // The Zenoh key expression used for retrieval of missed data on the "/chatter" topic
        //"0/chatter/std_msgs::msg::dds_::String_/RIHS01_df668c740482bbd48fb39d76a70dfd4bd59db1288021743503259e948f6b1a18/@adv/pub/*/*/*"
        "*/chatter/**/@adv/pub/**"
      ],
    },
  ],
  /// list of subjects:
  subjects: [
    {
      // Interface identifier
      id: "subject1",
      interfaces: ["enP8p1s0"],
    },
  ],
  /// apply rule to subject in the policies list
  policies: [
    {
      rules: ["rule1"],
      subjects: ["subject1"],
    },
  ],
},