Question on how to configure ACLs #916
Description
Hi,
we are trying to accomplish the following setup:
We have 2 PCs (1 connected to the robot, one remote PC) both running ROS2 Pipelines. We want to use RMW_ZENOH as the middleware on both of these hosts. For certain topics (e.g. images on /camera/image_raw) They should be sent over a router endpoint to which both PCs connect to.
We are struggling a bit to find a setup which accomplishes this.
My initial thinking was something like this: Run a local Zenoh Router on each PC which allows all topics to communicate locally over this router. For certain messages allow egress/ingress over the remote Router. Unfortunately I cannot seem to get it to work. It either blocks all local data exchange because of the ACL or does not allow filtering specific topics. ChatGPT/Gemini also fail at this.
Could somebody provide a very simple config file for this?
Is my thinking even correct?
Thanks!