API tools faq
paste
ruffsl

tb3_clean_sros2_policy.xml

ruffsl
Aug 6th, 2019
326
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
XML 33.08 KB | None | 0 0
raw download clone embed print report
  1. <policy version="0.1.0">
  2.   <profiles>
  3.     <profile node="_global_costmap_clear_entirely_global_costmap_Node_42432404" ns="/">
  4.       <services request="ALLOW">
  5.         <service>global_costmap/clear_entirely_global_costmap</service>
  6.       </services>
  7.       <topics publish="ALLOW">
  8.         <topic>parameter_events</topic>
  9.       </topics>
  10.       <topics subscribe="ALLOW">
  11.         <topic>parameter_events</topic>
  12.       </topics>
  13.     </profile>
  14.     <profile node="_global_costmap_clear_entirely_global_costmap_Node_42432404" ns="/global_costmap"/>
  15.     <profile node="_global_costmap_clear_entirely_global_costmap_Node_42432404" ns="/local_costmap"/>
  16.     <profile node="_global_costmap_clear_entirely_global_costmap_Node_73596424" ns="/">
  17.       <services request="ALLOW">
  18.         <service>global_costmap/clear_entirely_global_costmap</service>
  19.       </services>
  20.       <topics publish="ALLOW">
  21.         <topic>parameter_events</topic>
  22.       </topics>
  23.       <topics subscribe="ALLOW">
  24.         <topic>parameter_events</topic>
  25.       </topics>
  26.     </profile>
  27.     <profile node="_global_costmap_clear_entirely_global_costmap_Node_73596424" ns="/global_costmap"/>
  28.     <profile node="_global_costmap_clear_entirely_global_costmap_Node_73596424" ns="/local_costmap"/>
  29.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_25801372" ns="/">
  30.       <services request="ALLOW">
  31.         <service>local_costmap/clear_entirely_local_costmap</service>
  32.       </services>
  33.       <topics publish="ALLOW">
  34.         <topic>parameter_events</topic>
  35.       </topics>
  36.       <topics subscribe="ALLOW">
  37.         <topic>parameter_events</topic>
  38.       </topics>
  39.     </profile>
  40.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_25801372" ns="/global_costmap"/>
  41.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_25801372" ns="/local_costmap"/>
  42.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_68691229" ns="/">
  43.       <services request="ALLOW">
  44.         <service>local_costmap/clear_entirely_local_costmap</service>
  45.       </services>
  46.       <topics publish="ALLOW">
  47.         <topic>parameter_events</topic>
  48.       </topics>
  49.       <topics subscribe="ALLOW">
  50.         <topic>parameter_events</topic>
  51.       </topics>
  52.     </profile>
  53.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_68691229" ns="/global_costmap"/>
  54.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_68691229" ns="/local_costmap"/>
  55.     <profile node="amcl" ns="/">
  56.       <services reply="ALLOW">
  57.         <service>~/change_state</service>
  58.         <service>~/describe_parameters</service>
  59.         <service>~/get_available_states</service>
  60.         <service>~/get_available_transitions</service>
  61.         <service>~/get_parameter_types</service>
  62.         <service>~/get_parameters</service>
  63.         <service>~/get_state</service>
  64.         <service>~/get_transition_graph</service>
  65.         <service>~/list_parameters</service>
  66.         <service>~/set_parameters</service>
  67.         <service>~/set_parameters_atomically</service>
  68.         <service>global_localization</service>
  69.         <service>request_nomotion_update</service>
  70.       </services>
  71.       <topics publish="ALLOW">
  72.         <topic>~/transition_event</topic>
  73.       </topics>
  74.       <topics subscribe="ALLOW">
  75.         <topic>clock</topic>
  76.       </topics>
  77.     </profile>
  78.     <profile node="amcl" ns="/global_costmap"/>
  79.     <profile node="amcl" ns="/local_costmap"/>
  80.     <profile node="amcl_rclcpp_node" ns="/">
  81.       <services reply="ALLOW">
  82.         <service>~/describe_parameters</service>
  83.         <service>~/get_parameter_types</service>
  84.         <service>~/get_parameters</service>
  85.         <service>~/list_parameters</service>
  86.         <service>~/set_parameters</service>
  87.         <service>~/set_parameters_atomically</service>
  88.       </services>
  89.       <topics publish="ALLOW">
  90.         <topic>parameter_events</topic>
  91.       </topics>
  92.       <topics subscribe="ALLOW">
  93.         <topic>clock</topic>
  94.       </topics>
  95.     </profile>
  96.     <profile node="amcl_rclcpp_node" ns="/global_costmap"/>
  97.     <profile node="amcl_rclcpp_node" ns="/local_costmap"/>
  98.     <profile node="bt_navigator" ns="/">
  99.       <services reply="ALLOW">
  100.         <service>~/change_state</service>
  101.         <service>~/describe_parameters</service>
  102.         <service>~/get_available_states</service>
  103.         <service>~/get_available_transitions</service>
  104.         <service>~/get_parameter_types</service>
  105.         <service>~/get_parameters</service>
  106.         <service>~/get_state</service>
  107.         <service>~/get_transition_graph</service>
  108.         <service>~/list_parameters</service>
  109.         <service>~/set_parameters</service>
  110.         <service>~/set_parameters_atomically</service>
  111.       </services>
  112.       <topics publish="ALLOW">
  113.         <topic>~/transition_event</topic>
  114.       </topics>
  115.       <topics subscribe="ALLOW">
  116.         <topic>clock</topic>
  117.       </topics>
  118.     </profile>
  119.     <profile node="bt_navigator" ns="/global_costmap"/>
  120.     <profile node="bt_navigator" ns="/local_costmap"/>
  121.     <profile node="bt_navigator_client_node" ns="/">
  122.       <actions call="ALLOW">
  123.         <action>ComputePathToPose</action>
  124.       </actions>
  125.       <services reply="ALLOW">
  126.         <service>~/describe_parameters</service>
  127.         <service>~/get_parameter_types</service>
  128.         <service>~/get_parameters</service>
  129.         <service>~/list_parameters</service>
  130.         <service>~/set_parameters</service>
  131.         <service>~/set_parameters_atomically</service>
  132.       </services>
  133.       <topics publish="ALLOW">
  134.         <topic>parameter_events</topic>
  135.       </topics>
  136.       <topics subscribe="ALLOW">
  137.         <topic>amcl_pose</topic>
  138.       </topics>
  139.     </profile>
  140.     <profile node="bt_navigator_client_node" ns="/global_costmap"/>
  141.     <profile node="bt_navigator_client_node" ns="/local_costmap"/>
  142.     <profile node="bt_navigator_global_localization_client" ns="/">
  143.       <services reply="ALLOW">
  144.         <service>~/describe_parameters</service>
  145.         <service>~/get_parameter_types</service>
  146.         <service>~/get_parameters</service>
  147.         <service>~/list_parameters</service>
  148.         <service>~/set_parameters</service>
  149.         <service>~/set_parameters_atomically</service>
  150.       </services>
  151.       <services request="ALLOW">
  152.         <service>global_localization</service>
  153.       </services>
  154.       <topics publish="ALLOW">
  155.         <topic>parameter_events</topic>
  156.       </topics>
  157.       <topics subscribe="ALLOW">
  158.         <topic>parameter_events</topic>
  159.       </topics>
  160.     </profile>
  161.     <profile node="bt_navigator_global_localization_client" ns="/global_costmap"/>
  162.     <profile node="bt_navigator_global_localization_client" ns="/local_costmap"/>
  163.     <profile node="bt_navigator_rclcpp_node" ns="/">
  164.       <actions execute="ALLOW">
  165.         <action>NavigateToPose</action>
  166.       </actions>
  167.       <services reply="ALLOW">
  168.         <service>~/describe_parameters</service>
  169.         <service>~/get_parameter_types</service>
  170.         <service>~/get_parameters</service>
  171.         <service>~/list_parameters</service>
  172.         <service>~/set_parameters</service>
  173.         <service>~/set_parameters_atomically</service>
  174.       </services>
  175.       <topics publish="ALLOW">
  176.         <topic>parameter_events</topic>
  177.       </topics>
  178.       <topics subscribe="ALLOW">
  179.         <topic>move_base_simple/goal</topic>
  180.       </topics>
  181.     </profile>
  182.     <profile node="bt_navigator_rclcpp_node" ns="/global_costmap"/>
  183.     <profile node="bt_navigator_rclcpp_node" ns="/local_costmap"/>
  184.     <profile node="cartographer_node" ns="/">
  185.       <services reply="ALLOW">
  186.         <service>~/describe_parameters</service>
  187.         <service>~/get_parameter_types</service>
  188.         <service>~/get_parameters</service>
  189.         <service>~/list_parameters</service>
  190.         <service>~/set_parameters</service>
  191.         <service>~/set_parameters_atomically</service>
  192.         <service>finish_trajectory</service>
  193.         <service>start_trajectory</service>
  194.         <service>submap_query</service>
  195.         <service>write_state</service>
  196.       </services>
  197.       <topics publish="ALLOW">
  198.         <topic>constraint_list</topic>
  199.       </topics>
  200.       <topics subscribe="ALLOW">
  201.         <topic>imu</topic>
  202.       </topics>
  203.     </profile>
  204.     <profile node="cartographer_node" ns="/global_costmap"/>
  205.     <profile node="cartographer_node" ns="/local_costmap"/>
  206.     <profile node="dwb_controller" ns="/">
  207.       <services reply="ALLOW">
  208.         <service>~/change_state</service>
  209.         <service>~/describe_parameters</service>
  210.         <service>~/get_available_states</service>
  211.         <service>~/get_available_transitions</service>
  212.         <service>~/get_parameter_types</service>
  213.         <service>~/get_parameters</service>
  214.         <service>~/get_state</service>
  215.         <service>~/get_transition_graph</service>
  216.         <service>~/list_parameters</service>
  217.         <service>~/set_parameters</service>
  218.         <service>~/set_parameters_atomically</service>
  219.       </services>
  220.       <topics publish="ALLOW">
  221.         <topic>cmd_vel</topic>
  222.       </topics>
  223.       <topics subscribe="ALLOW">
  224.         <topic>clock</topic>
  225.       </topics>
  226.     </profile>
  227.     <profile node="dwb_controller" ns="/global_costmap"/>
  228.     <profile node="dwb_controller" ns="/local_costmap"/>
  229.     <profile node="dwb_controller_rclcpp_node" ns="/">
  230.       <actions execute="ALLOW">
  231.         <action>FollowPath</action>
  232.       </actions>
  233.       <services reply="ALLOW">
  234.         <service>~/describe_parameters</service>
  235.         <service>~/get_parameter_types</service>
  236.         <service>~/get_parameters</service>
  237.         <service>~/list_parameters</service>
  238.         <service>~/set_parameters</service>
  239.         <service>~/set_parameters_atomically</service>
  240.       </services>
  241.       <topics publish="ALLOW">
  242.         <topic>parameter_events</topic>
  243.       </topics>
  244.       <topics subscribe="ALLOW">
  245.         <topic>parameter_events</topic>
  246.       </topics>
  247.     </profile>
  248.     <profile node="dwb_controller_rclcpp_node" ns="/global_costmap"/>
  249.     <profile node="dwb_controller_rclcpp_node" ns="/local_costmap"/>
  250.     <profile node="gazebo" ns="/">
  251.       <services reply="ALLOW">
  252.         <service>~/describe_parameters</service>
  253.         <service>~/get_parameter_types</service>
  254.         <service>~/get_parameters</service>
  255.         <service>~/list_parameters</service>
  256.         <service>~/set_parameters</service>
  257.         <service>~/set_parameters_atomically</service>
  258.       </services>
  259.       <topics publish="ALLOW">
  260.         <topic>clock</topic>
  261.       </topics>
  262.       <topics subscribe="ALLOW">
  263.         <topic>clock</topic>
  264.       </topics>
  265.     </profile>
  266.     <profile node="gazebo" ns="/global_costmap"/>
  267.     <profile node="gazebo" ns="/local_costmap"/>
  268.     <profile node="global_costmap" ns="/"/>
  269.     <profile node="global_costmap" ns="/global_costmap">
  270.       <services reply="ALLOW">
  271.         <service>clear_around_global_costmap</service>
  272.         <service>clear_entirely_global_costmap</service>
  273.         <service>clear_except_global_costmap</service>
  274.         <service>~/change_state</service>
  275.         <service>~/describe_parameters</service>
  276.         <service>~/get_available_states</service>
  277.         <service>~/get_available_transitions</service>
  278.         <service>~/get_parameter_types</service>
  279.         <service>~/get_parameters</service>
  280.         <service>~/get_state</service>
  281.         <service>~/get_transition_graph</service>
  282.         <service>~/list_parameters</service>
  283.         <service>~/set_parameters</service>
  284.         <service>~/set_parameters_atomically</service>
  285.       </services>
  286.       <topics publish="ALLOW">
  287.         <topic>costmap</topic>
  288.       </topics>
  289.       <topics subscribe="ALLOW">
  290.         <topic>/clock</topic>
  291.       </topics>
  292.     </profile>
  293.     <profile node="global_costmap" ns="/local_costmap"/>
  294.     <profile node="global_costmap_client" ns="/">
  295.       <services reply="ALLOW">
  296.         <service>~/describe_parameters</service>
  297.         <service>~/get_parameter_types</service>
  298.         <service>~/get_parameters</service>
  299.         <service>~/list_parameters</service>
  300.         <service>~/set_parameters</service>
  301.         <service>~/set_parameters_atomically</service>
  302.       </services>
  303.       <topics publish="ALLOW">
  304.         <topic>parameter_events</topic>
  305.       </topics>
  306.       <topics subscribe="ALLOW">
  307.         <topic>parameter_events</topic>
  308.       </topics>
  309.     </profile>
  310.     <profile node="global_costmap_client" ns="/global_costmap"/>
  311.     <profile node="global_costmap_client" ns="/local_costmap"/>
  312.     <profile node="global_costmap_rclcpp_node" ns="/"/>
  313.     <profile node="global_costmap_rclcpp_node" ns="/global_costmap">
  314.       <services reply="ALLOW">
  315.         <service>~/describe_parameters</service>
  316.         <service>~/get_parameter_types</service>
  317.         <service>~/get_parameters</service>
  318.         <service>~/list_parameters</service>
  319.         <service>~/set_parameters</service>
  320.         <service>~/set_parameters_atomically</service>
  321.       </services>
  322.       <topics publish="ALLOW">
  323.         <topic>parameter_events</topic>
  324.       </topics>
  325.       <topics subscribe="ALLOW">
  326.         <topic>/clock</topic>
  327.       </topics>
  328.     </profile>
  329.     <profile node="global_costmap_rclcpp_node" ns="/local_costmap"/>
  330.     <profile node="launch_ros" ns="/">
  331.       <services reply="ALLOW">
  332.         <service>~/describe_parameters</service>
  333.         <service>~/get_parameter_types</service>
  334.         <service>~/get_parameters</service>
  335.         <service>~/list_parameters</service>
  336.         <service>~/set_parameters</service>
  337.         <service>~/set_parameters_atomically</service>
  338.       </services>
  339.       <topics publish="ALLOW">
  340.         <topic>parameter_events</topic>
  341.       </topics>
  342.     </profile>
  343.     <profile node="launch_ros" ns="/global_costmap"/>
  344.     <profile node="launch_ros" ns="/local_costmap"/>
  345.     <profile node="lifecycle_manager" ns="/">
  346.       <services reply="ALLOW">
  347.         <service>~/describe_parameters</service>
  348.         <service>~/get_parameter_types</service>
  349.         <service>~/get_parameters</service>
  350.         <service>~/list_parameters</service>
  351.         <service>~/set_parameters</service>
  352.         <service>~/set_parameters_atomically</service>
  353.         <service>~/shutdown</service>
  354.         <service>~/startup</service>
  355.       </services>
  356.       <topics publish="ALLOW">
  357.         <topic>parameter_events</topic>
  358.       </topics>
  359.       <topics subscribe="ALLOW">
  360.         <topic>clock</topic>
  361.       </topics>
  362.     </profile>
  363.     <profile node="lifecycle_manager" ns="/global_costmap"/>
  364.     <profile node="lifecycle_manager" ns="/local_costmap"/>
  365.     <profile node="lifecycle_managerservice_client" ns="/">
  366.       <services reply="ALLOW">
  367.         <service>~/describe_parameters</service>
  368.         <service>~/get_parameter_types</service>
  369.         <service>~/get_parameters</service>
  370.         <service>~/list_parameters</service>
  371.         <service>~/set_parameters</service>
  372.         <service>~/set_parameters_atomically</service>
  373.       </services>
  374.       <services request="ALLOW">
  375.         <service>amcl/change_state</service>
  376.         <service>amcl/get_state</service>
  377.         <service>bt_navigator/change_state</service>
  378.         <service>bt_navigator/get_state</service>
  379.         <service>dwb_controller/change_state</service>
  380.         <service>dwb_controller/get_state</service>
  381.         <service>map_server/change_state</service>
  382.         <service>map_server/get_state</service>
  383.         <service>navfn_planner/change_state</service>
  384.         <service>navfn_planner/get_state</service>
  385.         <service>world_model/change_state</service>
  386.         <service>world_model/get_state</service>
  387.       </services>
  388.       <topics publish="ALLOW">
  389.         <topic>parameter_events</topic>
  390.       </topics>
  391.       <topics subscribe="ALLOW">
  392.         <topic>parameter_events</topic>
  393.       </topics>
  394.     </profile>
  395.     <profile node="lifecycle_managerservice_client" ns="/global_costmap"/>
  396.     <profile node="lifecycle_managerservice_client" ns="/local_costmap"/>
  397.     <profile node="local_costmap" ns="/"/>
  398.     <profile node="local_costmap" ns="/global_costmap"/>
  399.     <profile node="local_costmap" ns="/local_costmap">
  400.       <services reply="ALLOW">
  401.         <service>clear_around_local_costmap</service>
  402.         <service>clear_entirely_local_costmap</service>
  403.         <service>clear_except_local_costmap</service>
  404.         <service>~/change_state</service>
  405.         <service>~/describe_parameters</service>
  406.         <service>~/get_available_states</service>
  407.         <service>~/get_available_transitions</service>
  408.         <service>~/get_parameter_types</service>
  409.         <service>~/get_parameters</service>
  410.         <service>~/get_state</service>
  411.         <service>~/get_transition_graph</service>
  412.         <service>~/list_parameters</service>
  413.         <service>~/set_parameters</service>
  414.         <service>~/set_parameters_atomically</service>
  415.       </services>
  416.       <topics publish="ALLOW">
  417.         <topic>costmap</topic>
  418.       </topics>
  419.       <topics subscribe="ALLOW">
  420.         <topic>/clock</topic>
  421.       </topics>
  422.     </profile>
  423.     <profile node="local_costmap_client" ns="/">
  424.       <services reply="ALLOW">
  425.         <service>~/describe_parameters</service>
  426.         <service>~/get_parameter_types</service>
  427.         <service>~/get_parameters</service>
  428.         <service>~/list_parameters</service>
  429.         <service>~/set_parameters</service>
  430.         <service>~/set_parameters_atomically</service>
  431.       </services>
  432.       <topics publish="ALLOW">
  433.         <topic>parameter_events</topic>
  434.       </topics>
  435.       <topics subscribe="ALLOW">
  436.         <topic>parameter_events</topic>
  437.       </topics>
  438.     </profile>
  439.     <profile node="local_costmap_client" ns="/global_costmap"/>
  440.     <profile node="local_costmap_client" ns="/local_costmap"/>
  441.     <profile node="local_costmap_rclcpp_node" ns="/"/>
  442.     <profile node="local_costmap_rclcpp_node" ns="/global_costmap"/>
  443.     <profile node="local_costmap_rclcpp_node" ns="/local_costmap">
  444.       <services reply="ALLOW">
  445.         <service>~/describe_parameters</service>
  446.         <service>~/get_parameter_types</service>
  447.         <service>~/get_parameters</service>
  448.         <service>~/list_parameters</service>
  449.         <service>~/set_parameters</service>
  450.         <service>~/set_parameters_atomically</service>
  451.       </services>
  452.       <topics publish="ALLOW">
  453.         <topic>parameter_events</topic>
  454.       </topics>
  455.       <topics subscribe="ALLOW">
  456.         <topic>/clock</topic>
  457.       </topics>
  458.     </profile>
  459.     <profile node="map_saver" ns="/">
  460.       <services reply="ALLOW">
  461.         <service>~/describe_parameters</service>
  462.         <service>~/get_parameter_types</service>
  463.         <service>~/get_parameters</service>
  464.         <service>~/list_parameters</service>
  465.         <service>~/set_parameters</service>
  466.         <service>~/set_parameters_atomically</service>
  467.       </services>
  468.       <topics publish="ALLOW">
  469.         <topic>parameter_events</topic>
  470.       </topics>
  471.       <topics subscribe="ALLOW">
  472.         <topic>map</topic>
  473.       </topics>
  474.     </profile>
  475.     <profile node="map_saver" ns="/global_costmap"/>
  476.     <profile node="map_saver" ns="/local_costmap"/>
  477.     <profile node="map_server" ns="/">
  478.       <services reply="ALLOW">
  479.         <service>map</service>
  480.         <service>~/change_state</service>
  481.         <service>~/describe_parameters</service>
  482.         <service>~/get_available_states</service>
  483.         <service>~/get_available_transitions</service>
  484.         <service>~/get_parameter_types</service>
  485.         <service>~/get_parameters</service>
  486.         <service>~/get_state</service>
  487.         <service>~/get_transition_graph</service>
  488.         <service>~/list_parameters</service>
  489.         <service>~/set_parameters</service>
  490.         <service>~/set_parameters_atomically</service>
  491.       </services>
  492.       <topics publish="ALLOW">
  493.         <topic>map</topic>
  494.       </topics>
  495.       <topics subscribe="ALLOW">
  496.         <topic>clock</topic>
  497.       </topics>
  498.     </profile>
  499.     <profile node="map_server" ns="/global_costmap"/>
  500.     <profile node="map_server" ns="/local_costmap"/>
  501.     <profile node="navfn_planner" ns="/">
  502.       <services reply="ALLOW">
  503.         <service>~/change_state</service>
  504.         <service>~/describe_parameters</service>
  505.         <service>~/get_available_states</service>
  506.         <service>~/get_available_transitions</service>
  507.         <service>~/get_parameter_types</service>
  508.         <service>~/get_parameters</service>
  509.         <service>~/get_state</service>
  510.         <service>~/get_transition_graph</service>
  511.         <service>~/list_parameters</service>
  512.         <service>~/set_parameters</service>
  513.         <service>~/set_parameters_atomically</service>
  514.       </services>
  515.       <topics publish="ALLOW">
  516.         <topic>endpoints</topic>
  517.       </topics>
  518.       <topics subscribe="ALLOW">
  519.         <topic>clock</topic>
  520.       </topics>
  521.     </profile>
  522.     <profile node="navfn_planner" ns="/global_costmap"/>
  523.     <profile node="navfn_planner" ns="/local_costmap"/>
  524.     <profile node="navfn_planner_GetCostmap_client" ns="/">
  525.       <services reply="ALLOW">
  526.         <service>~/describe_parameters</service>
  527.         <service>~/get_parameter_types</service>
  528.         <service>~/get_parameters</service>
  529.         <service>~/list_parameters</service>
  530.         <service>~/set_parameters</service>
  531.         <service>~/set_parameters_atomically</service>
  532.       </services>
  533.       <services request="ALLOW">
  534.         <service>GetCostmap</service>
  535.       </services>
  536.       <topics publish="ALLOW">
  537.         <topic>parameter_events</topic>
  538.       </topics>
  539.       <topics subscribe="ALLOW">
  540.         <topic>clock</topic>
  541.       </topics>
  542.     </profile>
  543.     <profile node="navfn_planner_GetCostmap_client" ns="/global_costmap"/>
  544.     <profile node="navfn_planner_GetCostmap_client" ns="/local_costmap"/>
  545.     <profile node="navfn_planner_GetRobotPose_client" ns="/">
  546.       <services reply="ALLOW">
  547.         <service>~/describe_parameters</service>
  548.         <service>~/get_parameter_types</service>
  549.         <service>~/get_parameters</service>
  550.         <service>~/list_parameters</service>
  551.         <service>~/set_parameters</service>
  552.         <service>~/set_parameters_atomically</service>
  553.       </services>
  554.       <services request="ALLOW">
  555.         <service>GetRobotPose</service>
  556.       </services>
  557.       <topics publish="ALLOW">
  558.         <topic>parameter_events</topic>
  559.       </topics>
  560.       <topics subscribe="ALLOW">
  561.         <topic>parameter_events</topic>
  562.       </topics>
  563.     </profile>
  564.     <profile node="navfn_planner_GetRobotPose_client" ns="/global_costmap"/>
  565.     <profile node="navfn_planner_GetRobotPose_client" ns="/local_costmap"/>
  566.     <profile node="navfn_planner_rclcpp_node" ns="/">
  567.       <actions execute="ALLOW">
  568.         <action>ComputePathToPose</action>
  569.       </actions>
  570.       <services reply="ALLOW">
  571.         <service>~/describe_parameters</service>
  572.         <service>~/get_parameter_types</service>
  573.         <service>~/get_parameters</service>
  574.         <service>~/list_parameters</service>
  575.         <service>~/set_parameters</service>
  576.         <service>~/set_parameters_atomically</service>
  577.       </services>
  578.       <topics publish="ALLOW">
  579.         <topic>parameter_events</topic>
  580.       </topics>
  581.       <topics subscribe="ALLOW">
  582.         <topic>parameter_events</topic>
  583.       </topics>
  584.     </profile>
  585.     <profile node="navfn_planner_rclcpp_node" ns="/global_costmap"/>
  586.     <profile node="navfn_planner_rclcpp_node" ns="/local_costmap"/>
  587.     <profile node="navigation_dialog_action_client" ns="/">
  588.       <actions call="ALLOW">
  589.         <action>NavigateToPose</action>
  590.       </actions>
  591.       <services reply="ALLOW">
  592.         <service>~/describe_parameters</service>
  593.         <service>~/get_parameter_types</service>
  594.         <service>~/get_parameters</service>
  595.         <service>~/list_parameters</service>
  596.         <service>~/set_parameters</service>
  597.         <service>~/set_parameters_atomically</service>
  598.       </services>
  599.       <topics publish="ALLOW">
  600.         <topic>parameter_events</topic>
  601.       </topics>
  602.       <topics subscribe="ALLOW">
  603.         <topic>parameter_events</topic>
  604.       </topics>
  605.     </profile>
  606.     <profile node="navigation_dialog_action_client" ns="/global_costmap"/>
  607.     <profile node="navigation_dialog_action_client" ns="/local_costmap"/>
  608.     <profile node="occupancy_grid_node" ns="/">
  609.       <services reply="ALLOW">
  610.         <service>~/describe_parameters</service>
  611.         <service>~/get_parameter_types</service>
  612.         <service>~/get_parameters</service>
  613.         <service>~/list_parameters</service>
  614.         <service>~/set_parameters</service>
  615.         <service>~/set_parameters_atomically</service>
  616.       </services>
  617.       <services request="ALLOW">
  618.         <service>submap_query</service>
  619.       </services>
  620.       <topics publish="ALLOW">
  621.         <topic>map</topic>
  622.       </topics>
  623.       <topics subscribe="ALLOW">
  624.         <topic>parameter_events</topic>
  625.       </topics>
  626.     </profile>
  627.     <profile node="occupancy_grid_node" ns="/global_costmap"/>
  628.     <profile node="occupancy_grid_node" ns="/local_costmap"/>
  629.     <profile node="recoveries" ns="/">
  630.       <actions execute="ALLOW">
  631.         <action>BackUp</action>
  632.       </actions>
  633.       <services reply="ALLOW">
  634.         <service>~/describe_parameters</service>
  635.         <service>~/get_parameter_types</service>
  636.         <service>~/get_parameters</service>
  637.         <service>~/list_parameters</service>
  638.         <service>~/set_parameters</service>
  639.         <service>~/set_parameters_atomically</service>
  640.       </services>
  641.       <topics publish="ALLOW">
  642.         <topic>cmd_vel</topic>
  643.       </topics>
  644.       <topics subscribe="ALLOW">
  645.         <topic>amcl_pose</topic>
  646.       </topics>
  647.     </profile>
  648.     <profile node="recoveries" ns="/global_costmap"/>
  649.     <profile node="recoveries" ns="/local_costmap"/>
  650.     <profile node="recovery_GetRobotPose_client" ns="/">
  651.       <services reply="ALLOW">
  652.         <service>~/describe_parameters</service>
  653.         <service>~/get_parameter_types</service>
  654.         <service>~/get_parameters</service>
  655.         <service>~/list_parameters</service>
  656.         <service>~/set_parameters</service>
  657.         <service>~/set_parameters_atomically</service>
  658.       </services>
  659.       <services request="ALLOW">
  660.         <service>GetRobotPose</service>
  661.       </services>
  662.       <topics publish="ALLOW">
  663.         <topic>parameter_events</topic>
  664.       </topics>
  665.       <topics subscribe="ALLOW">
  666.         <topic>parameter_events</topic>
  667.       </topics>
  668.     </profile>
  669.     <profile node="recovery_GetRobotPose_client" ns="/global_costmap"/>
  670.     <profile node="recovery_GetRobotPose_client" ns="/local_costmap"/>
  671.     <profile node="robot_state_publisher" ns="/">
  672.       <services reply="ALLOW">
  673.         <service>~/describe_parameters</service>
  674.         <service>~/get_parameter_types</service>
  675.         <service>~/get_parameters</service>
  676.         <service>~/list_parameters</service>
  677.         <service>~/set_parameters</service>
  678.         <service>~/set_parameters_atomically</service>
  679.       </services>
  680.       <topics publish="ALLOW">
  681.         <topic>parameter_events</topic>
  682.       </topics>
  683.       <topics subscribe="ALLOW">
  684.         <topic>clock</topic>
  685.       </topics>
  686.     </profile>
  687.     <profile node="robot_state_publisher" ns="/global_costmap"/>
  688.     <profile node="robot_state_publisher" ns="/local_costmap"/>
  689.     <profile node="rviz2" ns="/">
  690.       <actions call="ALLOW">
  691.         <action>NavigateToPose</action>
  692.       </actions>
  693.       <services reply="ALLOW">
  694.         <service>~/describe_parameters</service>
  695.         <service>~/get_parameter_types</service>
  696.         <service>~/get_parameters</service>
  697.         <service>~/list_parameters</service>
  698.         <service>~/set_parameters</service>
  699.         <service>~/set_parameters_atomically</service>
  700.       </services>
  701.       <services request="ALLOW">
  702.         <service>lifecycle_manager/shutdown</service>
  703.         <service>lifecycle_manager/startup</service>
  704.       </services>
  705.       <topics publish="ALLOW">
  706.         <topic>clicked_point</topic>
  707.       </topics>
  708.       <topics subscribe="ALLOW">
  709.         <topic>map</topic>
  710.       </topics>
  711.     </profile>
  712.     <profile node="rviz2" ns="/global_costmap"/>
  713.     <profile node="rviz2" ns="/local_costmap"/>
  714.     <profile node="teleop_keyboard" ns="/">
  715.       <services reply="ALLOW">
  716.         <service>~/describe_parameters</service>
  717.         <service>~/get_parameter_types</service>
  718.         <service>~/get_parameters</service>
  719.         <service>~/list_parameters</service>
  720.         <service>~/set_parameters</service>
  721.         <service>~/set_parameters_atomically</service>
  722.       </services>
  723.       <topics publish="ALLOW">
  724.         <topic>cmd_vel</topic>
  725.       </topics>
  726.     </profile>
  727.     <profile node="teleop_keyboard" ns="/global_costmap"/>
  728.     <profile node="teleop_keyboard" ns="/local_costmap"/>
  729.     <profile node="transform_listener_impl" ns="/">
  730.       <services reply="ALLOW">
  731.         <service>~/describe_parameters</service>
  732.         <service>~/get_parameter_types</service>
  733.         <service>~/get_parameters</service>
  734.         <service>~/list_parameters</service>
  735.         <service>~/set_parameters</service>
  736.         <service>~/set_parameters_atomically</service>
  737.       </services>
  738.       <topics publish="ALLOW">
  739.         <topic>parameter_events</topic>
  740.       </topics>
  741.       <topics subscribe="ALLOW">
  742.         <topic>parameter_events</topic>
  743.       </topics>
  744.     </profile>
  745.     <profile node="transform_listener_impl" ns="/global_costmap"/>
  746.     <profile node="transform_listener_impl" ns="/local_costmap"/>
  747.     <profile node="turtlebot3_diff_drive" ns="/">
  748.       <services reply="ALLOW">
  749.         <service>~/describe_parameters</service>
  750.         <service>~/get_parameter_types</service>
  751.         <service>~/get_parameters</service>
  752.         <service>~/list_parameters</service>
  753.         <service>~/set_parameters</service>
  754.         <service>~/set_parameters_atomically</service>
  755.       </services>
  756.       <topics publish="ALLOW">
  757.         <topic>odom</topic>
  758.       </topics>
  759.       <topics subscribe="ALLOW">
  760.         <topic>clock</topic>
  761.       </topics>
  762.     </profile>
  763.     <profile node="turtlebot3_diff_drive" ns="/global_costmap"/>
  764.     <profile node="turtlebot3_diff_drive" ns="/local_costmap"/>
  765.     <profile node="turtlebot3_imu" ns="/">
  766.       <services reply="ALLOW">
  767.         <service>~/describe_parameters</service>
  768.         <service>~/get_parameter_types</service>
  769.         <service>~/get_parameters</service>
  770.         <service>~/list_parameters</service>
  771.         <service>~/set_parameters</service>
  772.         <service>~/set_parameters_atomically</service>
  773.       </services>
  774.       <topics publish="ALLOW">
  775.         <topic>imu</topic>
  776.       </topics>
  777.       <topics subscribe="ALLOW">
  778.         <topic>clock</topic>
  779.       </topics>
  780.     </profile>
  781.     <profile node="turtlebot3_imu" ns="/global_costmap"/>
  782.     <profile node="turtlebot3_imu" ns="/local_costmap"/>
  783.     <profile node="turtlebot3_joint_state" ns="/">
  784.       <services reply="ALLOW">
  785.         <service>~/describe_parameters</service>
  786.         <service>~/get_parameter_types</service>
  787.         <service>~/get_parameters</service>
  788.         <service>~/list_parameters</service>
  789.         <service>~/set_parameters</service>
  790.         <service>~/set_parameters_atomically</service>
  791.       </services>
  792.       <topics publish="ALLOW">
  793.         <topic>joint_states</topic>
  794.       </topics>
  795.       <topics subscribe="ALLOW">
  796.         <topic>clock</topic>
  797.       </topics>
  798.     </profile>
  799.     <profile node="turtlebot3_joint_state" ns="/global_costmap"/>
  800.     <profile node="turtlebot3_joint_state" ns="/local_costmap"/>
  801.     <profile node="turtlebot3_laserscan" ns="/">
  802.       <services reply="ALLOW">
  803.         <service>~/describe_parameters</service>
  804.         <service>~/get_parameter_types</service>
  805.         <service>~/get_parameters</service>
  806.         <service>~/list_parameters</service>
  807.         <service>~/set_parameters</service>
  808.         <service>~/set_parameters_atomically</service>
  809.       </services>
  810.       <topics publish="ALLOW">
  811.         <topic>parameter_events</topic>
  812.       </topics>
  813.       <topics subscribe="ALLOW">
  814.         <topic>clock</topic>
  815.       </topics>
  816.     </profile>
  817.     <profile node="turtlebot3_laserscan" ns="/global_costmap"/>
  818.     <profile node="turtlebot3_laserscan" ns="/local_costmap"/>
  819.     <profile node="world_model" ns="/">
  820.       <services reply="ALLOW">
  821.         <service>GetCostmap</service>
  822.         <service>GetRobotPose</service>
  823.         <service>~/change_state</service>
  824.         <service>~/describe_parameters</service>
  825.         <service>~/get_available_states</service>
  826.         <service>~/get_available_transitions</service>
  827.         <service>~/get_parameter_types</service>
  828.         <service>~/get_parameters</service>
  829.         <service>~/get_state</service>
  830.         <service>~/get_transition_graph</service>
  831.         <service>~/list_parameters</service>
  832.         <service>~/set_parameters</service>
  833.         <service>~/set_parameters_atomically</service>
  834.       </services>
  835.       <topics publish="ALLOW">
  836.         <topic>parameter_events</topic>
  837.       </topics>
  838.       <topics subscribe="ALLOW">
  839.         <topic>clock</topic>
  840.       </topics>
  841.     </profile>
  842.     <profile node="world_model" ns="/global_costmap"/>
  843.     <profile node="world_model" ns="/local_costmap"/>
  844.   </profiles>
  845. </policy>
Advertisement
Add Comment
Please, Sign In to add comment
Public Pastes
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!