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tb3_fixed_sros2_policy.xml

ruffsl
Aug 6th, 2019
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  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.         <topic>rosout</topic>
  10.       </topics>
  11.       <topics subscribe="ALLOW">
  12.         <topic>parameter_events</topic>
  13.       </topics>
  14.     </profile>
  15.     <profile node="_global_costmap_clear_entirely_global_costmap_Node_73596424" ns="/">
  16.       <services request="ALLOW">
  17.         <service>global_costmap/clear_entirely_global_costmap</service>
  18.       </services>
  19.       <topics publish="ALLOW">
  20.         <topic>parameter_events</topic>
  21.         <topic>rosout</topic>
  22.       </topics>
  23.       <topics subscribe="ALLOW">
  24.         <topic>parameter_events</topic>
  25.       </topics>
  26.     </profile>
  27.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_25801372" ns="/">
  28.       <services request="ALLOW">
  29.         <service>local_costmap/clear_entirely_local_costmap</service>
  30.       </services>
  31.       <topics publish="ALLOW">
  32.         <topic>parameter_events</topic>
  33.         <topic>rosout</topic>
  34.       </topics>
  35.       <topics subscribe="ALLOW">
  36.         <topic>parameter_events</topic>
  37.       </topics>
  38.     </profile>
  39.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_68691229" ns="/">
  40.       <services request="ALLOW">
  41.         <service>local_costmap/clear_entirely_local_costmap</service>
  42.       </services>
  43.       <topics publish="ALLOW">
  44.         <topic>parameter_events</topic>
  45.         <topic>rosout</topic>
  46.       </topics>
  47.       <topics subscribe="ALLOW">
  48.         <topic>parameter_events</topic>
  49.       </topics>
  50.     </profile>
  51.     <profile node="amcl" ns="/">
  52.       <services reply="ALLOW">
  53.         <service>~/change_state</service>
  54.         <service>~/describe_parameters</service>
  55.         <service>~/get_available_states</service>
  56.         <service>~/get_available_transitions</service>
  57.         <service>~/get_parameter_types</service>
  58.         <service>~/get_parameters</service>
  59.         <service>~/get_state</service>
  60.         <service>~/get_transition_graph</service>
  61.         <service>~/list_parameters</service>
  62.         <service>~/set_parameters</service>
  63.         <service>~/set_parameters_atomically</service>
  64.         <service>global_localization</service>
  65.         <service>request_nomotion_update</service>
  66.       </services>
  67.       <topics publish="ALLOW">
  68.         <topic>~/transition_event</topic>
  69.         <topic>amcl_pose</topic>
  70.         <topic>parameter_events</topic>
  71.         <topic>particlecloud</topic>
  72.         <topic>rosout</topic>
  73.       </topics>
  74.       <topics subscribe="ALLOW">
  75.         <topic>clock</topic>
  76.         <topic>initialpose</topic>
  77.         <topic>map</topic>
  78.         <topic>parameter_events</topic>
  79.         <topic>tf</topic>
  80.         <topic>tf_static</topic>
  81.       </topics>
  82.     </profile>
  83.     <profile node="amcl_rclcpp_node" ns="/">
  84.       <services reply="ALLOW">
  85.         <service>~/describe_parameters</service>
  86.         <service>~/get_parameter_types</service>
  87.         <service>~/get_parameters</service>
  88.         <service>~/list_parameters</service>
  89.         <service>~/set_parameters</service>
  90.         <service>~/set_parameters_atomically</service>
  91.       </services>
  92.       <topics publish="ALLOW">
  93.         <topic>parameter_events</topic>
  94.         <topic>rosout</topic>
  95.         <topic>tf</topic>
  96.       </topics>
  97.       <topics subscribe="ALLOW">
  98.         <topic>clock</topic>
  99.         <topic>parameter_events</topic>
  100.         <topic>scan</topic>
  101.       </topics>
  102.     </profile>
  103.     <profile node="bt_navigator" ns="/">
  104.       <services reply="ALLOW">
  105.         <service>~/change_state</service>
  106.         <service>~/describe_parameters</service>
  107.         <service>~/get_available_states</service>
  108.         <service>~/get_available_transitions</service>
  109.         <service>~/get_parameter_types</service>
  110.         <service>~/get_parameters</service>
  111.         <service>~/get_state</service>
  112.         <service>~/get_transition_graph</service>
  113.         <service>~/list_parameters</service>
  114.         <service>~/set_parameters</service>
  115.         <service>~/set_parameters_atomically</service>
  116.       </services>
  117.       <topics publish="ALLOW">
  118.         <topic>~/transition_event</topic>
  119.         <topic>parameter_events</topic>
  120.         <topic>rosout</topic>
  121.       </topics>
  122.       <topics subscribe="ALLOW">
  123.         <topic>clock</topic>
  124.         <topic>parameter_events</topic>
  125.       </topics>
  126.     </profile>
  127.     <profile node="bt_navigator_client_node" ns="/">
  128.       <actions call="ALLOW">
  129.         <action>ComputePathToPose</action>
  130.         <action>FollowPath</action>
  131.         <action>NavigateToPose</action>
  132.         <action>Spin</action>
  133.       </actions>
  134.       <services reply="ALLOW">
  135.         <service>~/describe_parameters</service>
  136.         <service>~/get_parameter_types</service>
  137.         <service>~/get_parameters</service>
  138.         <service>~/list_parameters</service>
  139.         <service>~/set_parameters</service>
  140.         <service>~/set_parameters_atomically</service>
  141.       </services>
  142.       <topics publish="ALLOW">
  143.         <topic>parameter_events</topic>
  144.         <topic>rosout</topic>
  145.       </topics>
  146.       <topics subscribe="ALLOW">
  147.         <topic>amcl_pose</topic>
  148.         <topic>odom</topic>
  149.         <topic>parameter_events</topic>
  150.       </topics>
  151.     </profile>
  152.     <profile node="bt_navigator_global_localization_client" ns="/">
  153.       <services reply="ALLOW">
  154.         <service>~/describe_parameters</service>
  155.         <service>~/get_parameter_types</service>
  156.         <service>~/get_parameters</service>
  157.         <service>~/list_parameters</service>
  158.         <service>~/set_parameters</service>
  159.         <service>~/set_parameters_atomically</service>
  160.       </services>
  161.       <services request="ALLOW">
  162.         <service>global_localization</service>
  163.       </services>
  164.       <topics publish="ALLOW">
  165.         <topic>parameter_events</topic>
  166.         <topic>rosout</topic>
  167.       </topics>
  168.       <topics subscribe="ALLOW">
  169.         <topic>parameter_events</topic>
  170.       </topics>
  171.     </profile>
  172.     <profile node="bt_navigator_rclcpp_node" ns="/">
  173.       <actions execute="ALLOW">
  174.         <action>NavigateToPose</action>
  175.       </actions>
  176.       <services reply="ALLOW">
  177.         <service>~/describe_parameters</service>
  178.         <service>~/get_parameter_types</service>
  179.         <service>~/get_parameters</service>
  180.         <service>~/list_parameters</service>
  181.         <service>~/set_parameters</service>
  182.         <service>~/set_parameters_atomically</service>
  183.       </services>
  184.       <topics publish="ALLOW">
  185.         <topic>parameter_events</topic>
  186.         <topic>rosout</topic>
  187.       </topics>
  188.       <topics subscribe="ALLOW">
  189.         <topic>move_base_simple/goal</topic>
  190.         <topic>parameter_events</topic>
  191.       </topics>
  192.     </profile>
  193.     <profile node="cartographer_node" ns="/">
  194.       <services reply="ALLOW">
  195.         <service>~/describe_parameters</service>
  196.         <service>~/get_parameter_types</service>
  197.         <service>~/get_parameters</service>
  198.         <service>~/list_parameters</service>
  199.         <service>~/set_parameters</service>
  200.         <service>~/set_parameters_atomically</service>
  201.         <service>finish_trajectory</service>
  202.         <service>start_trajectory</service>
  203.         <service>submap_query</service>
  204.         <service>write_state</service>
  205.       </services>
  206.       <topics publish="ALLOW">
  207.         <topic>constraint_list</topic>
  208.         <topic>landmark_poses_list</topic>
  209.         <topic>parameter_events</topic>
  210.         <topic>rosout</topic>
  211.         <topic>scan_matched_points2</topic>
  212.         <topic>submap_list</topic>
  213.         <topic>tf</topic>
  214.         <topic>trajectory_node_list</topic>
  215.       </topics>
  216.       <topics subscribe="ALLOW">
  217.         <topic>imu</topic>
  218.         <topic>odom</topic>
  219.         <topic>parameter_events</topic>
  220.         <topic>scan</topic>
  221.         <topic>tf</topic>
  222.         <topic>tf_static</topic>
  223.       </topics>
  224.     </profile>
  225.     <profile node="dwb_controller" ns="/">
  226.       <services reply="ALLOW">
  227.         <service>~/change_state</service>
  228.         <service>~/describe_parameters</service>
  229.         <service>~/get_available_states</service>
  230.         <service>~/get_available_transitions</service>
  231.         <service>~/get_parameter_types</service>
  232.         <service>~/get_parameters</service>
  233.         <service>~/get_state</service>
  234.         <service>~/get_transition_graph</service>
  235.         <service>~/list_parameters</service>
  236.         <service>~/set_parameters</service>
  237.         <service>~/set_parameters_atomically</service>
  238.       </services>
  239.       <topics publish="ALLOW">
  240.         <topic>cmd_vel</topic>
  241.         <topic>cost_cloud</topic>
  242.         <topic>~/transition_event</topic>
  243.         <topic>evaluation</topic>
  244.         <topic>local_plan</topic>
  245.         <topic>marker</topic>
  246.         <topic>parameter_events</topic>
  247.         <topic>received_global_plan</topic>
  248.         <topic>rosout</topic>
  249.         <topic>transformed_global_plan</topic>
  250.       </topics>
  251.       <topics subscribe="ALLOW">
  252.         <topic>clock</topic>
  253.         <topic>odom</topic>
  254.         <topic>parameter_events</topic>
  255.       </topics>
  256.     </profile>
  257.     <profile node="dwb_controller_rclcpp_node" ns="/">
  258.       <actions execute="ALLOW">
  259.         <action>FollowPath</action>
  260.       </actions>
  261.       <services reply="ALLOW">
  262.         <service>~/describe_parameters</service>
  263.         <service>~/get_parameter_types</service>
  264.         <service>~/get_parameters</service>
  265.         <service>~/list_parameters</service>
  266.         <service>~/set_parameters</service>
  267.         <service>~/set_parameters_atomically</service>
  268.       </services>
  269.       <topics publish="ALLOW">
  270.         <topic>parameter_events</topic>
  271.         <topic>rosout</topic>
  272.       </topics>
  273.       <topics subscribe="ALLOW">
  274.         <topic>parameter_events</topic>
  275.       </topics>
  276.     </profile>
  277.     <profile node="gazebo" ns="/">
  278.       <services reply="ALLOW">
  279.         <service>~/describe_parameters</service>
  280.         <service>~/get_parameter_types</service>
  281.         <service>~/get_parameters</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>clock</topic>
  288.         <topic>parameter_events</topic>
  289.         <topic>rosout</topic>
  290.       </topics>
  291.       <topics subscribe="ALLOW">
  292.         <topic>clock</topic>
  293.         <topic>parameter_events</topic>
  294.       </topics>
  295.     </profile>
  296.     <profile node="global_costmap" ns="/global_costmap">
  297.       <services reply="ALLOW">
  298.         <service>clear_around_global_costmap</service>
  299.         <service>clear_entirely_global_costmap</service>
  300.         <service>clear_except_global_costmap</service>
  301.         <service>~/change_state</service>
  302.         <service>~/describe_parameters</service>
  303.         <service>~/get_available_states</service>
  304.         <service>~/get_available_transitions</service>
  305.         <service>~/get_parameter_types</service>
  306.         <service>~/get_parameters</service>
  307.         <service>~/get_state</service>
  308.         <service>~/get_transition_graph</service>
  309.         <service>~/list_parameters</service>
  310.         <service>~/set_parameters</service>
  311.         <service>~/set_parameters_atomically</service>
  312.       </services>
  313.       <topics publish="ALLOW">
  314.         <topic>costmap</topic>
  315.         <topic>costmap_raw</topic>
  316.         <topic>costmap_updates</topic>
  317.         <topic>~/transition_event</topic>
  318.         <topic>parameter_events</topic>
  319.         <topic>published_footprint</topic>
  320.         <topic>rosout</topic>
  321.       </topics>
  322.       <topics subscribe="ALLOW">
  323.         <topic>/clock</topic>
  324.         <topic>footprint</topic>
  325.         <topic>parameter_events</topic>
  326.         <topic>/map</topic>
  327.       </topics>
  328.     </profile>
  329.     <profile node="global_costmap_client" ns="/">
  330.       <services reply="ALLOW">
  331.         <service>~/describe_parameters</service>
  332.         <service>~/get_parameter_types</service>
  333.         <service>~/get_parameters</service>
  334.         <service>~/list_parameters</service>
  335.         <service>~/set_parameters</service>
  336.         <service>~/set_parameters_atomically</service>
  337.       </services>
  338.       <topics publish="ALLOW">
  339.         <topic>parameter_events</topic>
  340.         <topic>rosout</topic>
  341.       </topics>
  342.       <topics subscribe="ALLOW">
  343.         <topic>parameter_events</topic>
  344.       </topics>
  345.     </profile>
  346.     <profile node="global_costmap_rclcpp_node" ns="/global_costmap">
  347.       <services reply="ALLOW">
  348.         <service>~/describe_parameters</service>
  349.         <service>~/get_parameter_types</service>
  350.         <service>~/get_parameters</service>
  351.         <service>~/list_parameters</service>
  352.         <service>~/set_parameters</service>
  353.         <service>~/set_parameters_atomically</service>
  354.       </services>
  355.       <topics publish="ALLOW">
  356.         <topic>parameter_events</topic>
  357.         <topic>rosout</topic>
  358.       </topics>
  359.       <topics subscribe="ALLOW">
  360.         <topic>/clock</topic>
  361.         <topic>parameter_events</topic>
  362.         <topic>/scan</topic>
  363.       </topics>
  364.     </profile>
  365.     <profile node="launch_ros" 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.       <topics publish="ALLOW">
  375.         <topic>parameter_events</topic>
  376.         <topic>rosout</topic>
  377.       </topics>
  378.     </profile>
  379.     <profile node="lifecycle_manager" ns="/">
  380.       <services reply="ALLOW">
  381.         <service>~/describe_parameters</service>
  382.         <service>~/get_parameter_types</service>
  383.         <service>~/get_parameters</service>
  384.         <service>~/list_parameters</service>
  385.         <service>~/set_parameters</service>
  386.         <service>~/set_parameters_atomically</service>
  387.         <service>~/shutdown</service>
  388.         <service>~/startup</service>
  389.       </services>
  390.       <topics publish="ALLOW">
  391.         <topic>parameter_events</topic>
  392.         <topic>rosout</topic>
  393.       </topics>
  394.       <topics subscribe="ALLOW">
  395.         <topic>clock</topic>
  396.         <topic>parameter_events</topic>
  397.       </topics>
  398.     </profile>
  399.     <profile node="lifecycle_managerservice_client" ns="/">
  400.       <services reply="ALLOW">
  401.         <service>~/describe_parameters</service>
  402.         <service>~/get_parameter_types</service>
  403.         <service>~/get_parameters</service>
  404.         <service>~/list_parameters</service>
  405.         <service>~/set_parameters</service>
  406.         <service>~/set_parameters_atomically</service>
  407.       </services>
  408.       <services request="ALLOW">
  409.         <service>amcl/change_state</service>
  410.         <service>amcl/get_state</service>
  411.         <service>bt_navigator/change_state</service>
  412.         <service>bt_navigator/get_state</service>
  413.         <service>dwb_controller/change_state</service>
  414.         <service>dwb_controller/get_state</service>
  415.         <service>map_server/change_state</service>
  416.         <service>map_server/get_state</service>
  417.         <service>navfn_planner/change_state</service>
  418.         <service>navfn_planner/get_state</service>
  419.         <service>world_model/change_state</service>
  420.         <service>world_model/get_state</service>
  421.       </services>
  422.       <topics publish="ALLOW">
  423.         <topic>parameter_events</topic>
  424.         <topic>rosout</topic>
  425.       </topics>
  426.       <topics subscribe="ALLOW">
  427.         <topic>parameter_events</topic>
  428.       </topics>
  429.     </profile>
  430.     <profile node="local_costmap" ns="/local_costmap">
  431.       <services reply="ALLOW">
  432.         <service>clear_around_local_costmap</service>
  433.         <service>clear_entirely_local_costmap</service>
  434.         <service>clear_except_local_costmap</service>
  435.         <service>~/change_state</service>
  436.         <service>~/describe_parameters</service>
  437.         <service>~/get_available_states</service>
  438.         <service>~/get_available_transitions</service>
  439.         <service>~/get_parameter_types</service>
  440.         <service>~/get_parameters</service>
  441.         <service>~/get_state</service>
  442.         <service>~/get_transition_graph</service>
  443.         <service>~/list_parameters</service>
  444.         <service>~/set_parameters</service>
  445.         <service>~/set_parameters_atomically</service>
  446.       </services>
  447.       <topics publish="ALLOW">
  448.         <topic>costmap</topic>
  449.         <topic>costmap_raw</topic>
  450.         <topic>costmap_updates</topic>
  451.         <topic>~/transition_event</topic>
  452.         <topic>parameter_events</topic>
  453.         <topic>published_footprint</topic>
  454.         <topic>rosout</topic>
  455.       </topics>
  456.       <topics subscribe="ALLOW">
  457.         <topic>/clock</topic>
  458.         <topic>footprint</topic>
  459.         <topic>parameter_events</topic>
  460.       </topics>
  461.     </profile>
  462.     <profile node="local_costmap_client" ns="/">
  463.       <services reply="ALLOW">
  464.         <service>~/describe_parameters</service>
  465.         <service>~/get_parameter_types</service>
  466.         <service>~/get_parameters</service>
  467.         <service>~/list_parameters</service>
  468.         <service>~/set_parameters</service>
  469.         <service>~/set_parameters_atomically</service>
  470.       </services>
  471.       <topics publish="ALLOW">
  472.         <topic>parameter_events</topic>
  473.         <topic>rosout</topic>
  474.       </topics>
  475.       <topics subscribe="ALLOW">
  476.         <topic>parameter_events</topic>
  477.       </topics>
  478.     </profile>
  479.     <profile node="local_costmap_rclcpp_node" ns="/local_costmap">
  480.       <services reply="ALLOW">
  481.         <service>~/describe_parameters</service>
  482.         <service>~/get_parameter_types</service>
  483.         <service>~/get_parameters</service>
  484.         <service>~/list_parameters</service>
  485.         <service>~/set_parameters</service>
  486.         <service>~/set_parameters_atomically</service>
  487.       </services>
  488.       <topics publish="ALLOW">
  489.         <topic>parameter_events</topic>
  490.         <topic>rosout</topic>
  491.       </topics>
  492.       <topics subscribe="ALLOW">
  493.         <topic>/clock</topic>
  494.         <topic>parameter_events</topic>
  495.         <topic>/scan</topic>
  496.       </topics>
  497.     </profile>
  498.     <profile node="map_saver" ns="/">
  499.       <services reply="ALLOW">
  500.         <service>~/describe_parameters</service>
  501.         <service>~/get_parameter_types</service>
  502.         <service>~/get_parameters</service>
  503.         <service>~/list_parameters</service>
  504.         <service>~/set_parameters</service>
  505.         <service>~/set_parameters_atomically</service>
  506.       </services>
  507.       <topics publish="ALLOW">
  508.         <topic>parameter_events</topic>
  509.         <topic>rosout</topic>
  510.       </topics>
  511.       <topics subscribe="ALLOW">
  512.         <topic>map</topic>
  513.         <topic>parameter_events</topic>
  514.       </topics>
  515.     </profile>
  516.     <profile node="map_server" ns="/">
  517.       <services reply="ALLOW">
  518.         <service>map</service>
  519.         <service>~/change_state</service>
  520.         <service>~/describe_parameters</service>
  521.         <service>~/get_available_states</service>
  522.         <service>~/get_available_transitions</service>
  523.         <service>~/get_parameter_types</service>
  524.         <service>~/get_parameters</service>
  525.         <service>~/get_state</service>
  526.         <service>~/get_transition_graph</service>
  527.         <service>~/list_parameters</service>
  528.         <service>~/set_parameters</service>
  529.         <service>~/set_parameters_atomically</service>
  530.       </services>
  531.       <topics publish="ALLOW">
  532.         <topic>map</topic>
  533.         <topic>~/transition_event</topic>
  534.         <topic>parameter_events</topic>
  535.         <topic>rosout</topic>
  536.       </topics>
  537.       <topics subscribe="ALLOW">
  538.         <topic>clock</topic>
  539.         <topic>parameter_events</topic>
  540.       </topics>
  541.     </profile>
  542.     <profile node="navfn_planner" ns="/">
  543.       <services reply="ALLOW">
  544.         <service>~/change_state</service>
  545.         <service>~/describe_parameters</service>
  546.         <service>~/get_available_states</service>
  547.         <service>~/get_available_transitions</service>
  548.         <service>~/get_parameter_types</service>
  549.         <service>~/get_parameters</service>
  550.         <service>~/get_state</service>
  551.         <service>~/get_transition_graph</service>
  552.         <service>~/list_parameters</service>
  553.         <service>~/set_parameters</service>
  554.         <service>~/set_parameters_atomically</service>
  555.       </services>
  556.       <topics publish="ALLOW">
  557.         <topic>endpoints</topic>
  558.         <topic>~/transition_event</topic>
  559.         <topic>parameter_events</topic>
  560.         <topic>plan</topic>
  561.         <topic>rosout</topic>
  562.       </topics>
  563.       <topics subscribe="ALLOW">
  564.         <topic>clock</topic>
  565.         <topic>parameter_events</topic>
  566.       </topics>
  567.     </profile>
  568.     <profile node="navfn_planner_GetCostmap_client" ns="/">
  569.       <services reply="ALLOW">
  570.         <service>~/describe_parameters</service>
  571.         <service>~/get_parameter_types</service>
  572.         <service>~/get_parameters</service>
  573.         <service>~/list_parameters</service>
  574.         <service>~/set_parameters</service>
  575.         <service>~/set_parameters_atomically</service>
  576.       </services>
  577.       <services request="ALLOW">
  578.         <service>GetCostmap</service>
  579.       </services>
  580.       <topics publish="ALLOW">
  581.         <topic>parameter_events</topic>
  582.         <topic>rosout</topic>
  583.       </topics>
  584.       <topics subscribe="ALLOW">
  585.         <topic>clock</topic>
  586.         <topic>parameter_events</topic>
  587.       </topics>
  588.     </profile>
  589.     <profile node="navfn_planner_GetRobotPose_client" ns="/">
  590.       <services reply="ALLOW">
  591.         <service>~/describe_parameters</service>
  592.         <service>~/get_parameter_types</service>
  593.         <service>~/get_parameters</service>
  594.         <service>~/list_parameters</service>
  595.         <service>~/set_parameters</service>
  596.         <service>~/set_parameters_atomically</service>
  597.       </services>
  598.       <services request="ALLOW">
  599.         <service>GetRobotPose</service>
  600.       </services>
  601.       <topics publish="ALLOW">
  602.         <topic>parameter_events</topic>
  603.         <topic>rosout</topic>
  604.       </topics>
  605.       <topics subscribe="ALLOW">
  606.         <topic>parameter_events</topic>
  607.       </topics>
  608.     </profile>
  609.     <profile node="navfn_planner_rclcpp_node" ns="/">
  610.       <actions execute="ALLOW">
  611.         <action>ComputePathToPose</action>
  612.       </actions>
  613.       <services reply="ALLOW">
  614.         <service>~/describe_parameters</service>
  615.         <service>~/get_parameter_types</service>
  616.         <service>~/get_parameters</service>
  617.         <service>~/list_parameters</service>
  618.         <service>~/set_parameters</service>
  619.         <service>~/set_parameters_atomically</service>
  620.       </services>
  621.       <topics publish="ALLOW">
  622.         <topic>parameter_events</topic>
  623.         <topic>rosout</topic>
  624.       </topics>
  625.       <topics subscribe="ALLOW">
  626.         <topic>parameter_events</topic>
  627.       </topics>
  628.     </profile>
  629.     <profile node="navigation_dialog_action_client" ns="/">
  630.       <actions call="ALLOW">
  631.         <action>NavigateToPose</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>parameter_events</topic>
  643.         <topic>rosout</topic>
  644.       </topics>
  645.       <topics subscribe="ALLOW">
  646.         <topic>parameter_events</topic>
  647.       </topics>
  648.     </profile>
  649.     <profile node="occupancy_grid_node" ns="/">
  650.       <services reply="ALLOW">
  651.         <service>~/describe_parameters</service>
  652.         <service>~/get_parameter_types</service>
  653.         <service>~/get_parameters</service>
  654.         <service>~/list_parameters</service>
  655.         <service>~/set_parameters</service>
  656.         <service>~/set_parameters_atomically</service>
  657.       </services>
  658.       <services request="ALLOW">
  659.         <service>submap_query</service>
  660.       </services>
  661.       <topics publish="ALLOW">
  662.         <topic>map</topic>
  663.         <topic>parameter_events</topic>
  664.         <topic>rosout</topic>
  665.       </topics>
  666.       <topics subscribe="ALLOW">
  667.         <topic>parameter_events</topic>
  668.         <topic>submap_list</topic>
  669.       </topics>
  670.     </profile>
  671.     <profile node="recoveries" ns="/">
  672.       <actions execute="ALLOW">
  673.         <action>BackUp</action>
  674.         <action>Spin</action>
  675.       </actions>
  676.       <services reply="ALLOW">
  677.         <service>~/describe_parameters</service>
  678.         <service>~/get_parameter_types</service>
  679.         <service>~/get_parameters</service>
  680.         <service>~/list_parameters</service>
  681.         <service>~/set_parameters</service>
  682.         <service>~/set_parameters_atomically</service>
  683.       </services>
  684.       <topics publish="ALLOW">
  685.         <topic>cmd_vel</topic>
  686.         <topic>parameter_events</topic>
  687.         <topic>rosout</topic>
  688.       </topics>
  689.       <topics subscribe="ALLOW">
  690.         <topic>amcl_pose</topic>
  691.         <topic>clock</topic>
  692.         <topic>global_costmap/costmap_raw</topic>
  693.         <topic>global_costmap/published_footprint</topic>
  694.         <topic>odom</topic>
  695.         <topic>parameter_events</topic>
  696.       </topics>
  697.     </profile>
  698.     <profile node="recovery_GetRobotPose_client" ns="/">
  699.       <services reply="ALLOW">
  700.         <service>~/describe_parameters</service>
  701.         <service>~/get_parameter_types</service>
  702.         <service>~/get_parameters</service>
  703.         <service>~/list_parameters</service>
  704.         <service>~/set_parameters</service>
  705.         <service>~/set_parameters_atomically</service>
  706.       </services>
  707.       <services request="ALLOW">
  708.         <service>GetRobotPose</service>
  709.       </services>
  710.       <topics publish="ALLOW">
  711.         <topic>parameter_events</topic>
  712.         <topic>rosout</topic>
  713.       </topics>
  714.       <topics subscribe="ALLOW">
  715.         <topic>parameter_events</topic>
  716.       </topics>
  717.     </profile>
  718.     <profile node="robot_state_publisher" ns="/">
  719.       <services reply="ALLOW">
  720.         <service>~/describe_parameters</service>
  721.         <service>~/get_parameter_types</service>
  722.         <service>~/get_parameters</service>
  723.         <service>~/list_parameters</service>
  724.         <service>~/set_parameters</service>
  725.         <service>~/set_parameters_atomically</service>
  726.       </services>
  727.       <topics publish="ALLOW">
  728.         <topic>parameter_events</topic>
  729.         <topic>robot_description</topic>
  730.         <topic>rosout</topic>
  731.         <topic>tf</topic>
  732.         <topic>tf_static</topic>
  733.       </topics>
  734.       <topics subscribe="ALLOW">
  735.         <topic>clock</topic>
  736.         <topic>joint_states</topic>
  737.         <topic>parameter_events</topic>
  738.       </topics>
  739.     </profile>
  740.     <profile node="rviz2" ns="/">
  741.       <actions call="ALLOW">
  742.         <action>NavigateToPose</action>
  743.       </actions>
  744.       <services reply="ALLOW">
  745.         <service>~/describe_parameters</service>
  746.         <service>~/get_parameter_types</service>
  747.         <service>~/get_parameters</service>
  748.         <service>~/list_parameters</service>
  749.         <service>~/set_parameters</service>
  750.         <service>~/set_parameters_atomically</service>
  751.       </services>
  752.       <services request="ALLOW">
  753.         <service>lifecycle_manager/shutdown</service>
  754.         <service>lifecycle_manager/startup</service>
  755.       </services>
  756.       <topics publish="ALLOW">
  757.         <topic>clicked_point</topic>
  758.         <topic>goal</topic>
  759.         <topic>initialpose</topic>
  760.         <topic>move_base_simple/goal</topic>
  761.         <topic>parameter_events</topic>
  762.         <topic>rosout</topic>
  763.       </topics>
  764.       <topics subscribe="ALLOW">
  765.         <topic>map</topic>
  766.         <topic>map_updates</topic>
  767.         <topic>parameter_events</topic>
  768.         <topic>scan_matched_points2</topic>
  769.         <topic>tf</topic>
  770.         <topic>tf_static</topic>
  771.         <topic>clock</topic>
  772.         <topic>endpoints</topic>
  773.         <topic>endpoints_array</topic>
  774.         <topic>global_costmap/costmap</topic>
  775.         <topic>global_costmap/costmap_updates</topic>
  776.         <topic>local_costmap/costmap</topic>
  777.         <topic>local_costmap/costmap_updates</topic>
  778.         <topic>local_costmap/published_footprint</topic>
  779.         <topic>local_plan</topic>
  780.         <topic>marker</topic>
  781.         <topic>mobile_base/sensors/bumper_pointcloud</topic>
  782.         <topic>particlecloud</topic>
  783.         <topic>plan</topic>
  784.         <topic>robot_description</topic>
  785.         <topic>scan</topic>
  786.         <topic>visualization_marker_array</topic>
  787.       </topics>
  788.     </profile>
  789.     <profile node="teleop_keyboard" ns="/">
  790.       <services reply="ALLOW">
  791.         <service>~/describe_parameters</service>
  792.         <service>~/get_parameter_types</service>
  793.         <service>~/get_parameters</service>
  794.         <service>~/list_parameters</service>
  795.         <service>~/set_parameters</service>
  796.         <service>~/set_parameters_atomically</service>
  797.       </services>
  798.       <topics publish="ALLOW">
  799.         <topic>cmd_vel</topic>
  800.         <topic>parameter_events</topic>
  801.         <topic>rosout</topic>
  802.       </topics>
  803.     </profile>
  804.     <profile node="transform_listener_impl" ns="/">
  805.       <services reply="ALLOW">
  806.         <service>~/describe_parameters</service>
  807.         <service>~/get_parameter_types</service>
  808.         <service>~/get_parameters</service>
  809.         <service>~/list_parameters</service>
  810.         <service>~/set_parameters</service>
  811.         <service>~/set_parameters_atomically</service>
  812.       </services>
  813.       <topics publish="ALLOW">
  814.         <topic>parameter_events</topic>
  815.         <topic>rosout</topic>
  816.       </topics>
  817.       <topics subscribe="ALLOW">
  818.         <topic>parameter_events</topic>
  819.         <topic>tf</topic>
  820.         <topic>tf_static</topic>
  821.       </topics>
  822.     </profile>
  823.     <profile node="turtlebot3_diff_drive" ns="/">
  824.       <services reply="ALLOW">
  825.         <service>~/describe_parameters</service>
  826.         <service>~/get_parameter_types</service>
  827.         <service>~/get_parameters</service>
  828.         <service>~/list_parameters</service>
  829.         <service>~/set_parameters</service>
  830.         <service>~/set_parameters_atomically</service>
  831.       </services>
  832.       <topics publish="ALLOW">
  833.         <topic>odom</topic>
  834.         <topic>parameter_events</topic>
  835.         <topic>rosout</topic>
  836.         <topic>tf</topic>
  837.       </topics>
  838.       <topics subscribe="ALLOW">
  839.         <topic>clock</topic>
  840.         <topic>cmd_vel</topic>
  841.         <topic>parameter_events</topic>
  842.       </topics>
  843.     </profile>
  844.     <profile node="turtlebot3_imu" ns="/">
  845.       <services reply="ALLOW">
  846.         <service>~/describe_parameters</service>
  847.         <service>~/get_parameter_types</service>
  848.         <service>~/get_parameters</service>
  849.         <service>~/list_parameters</service>
  850.         <service>~/set_parameters</service>
  851.         <service>~/set_parameters_atomically</service>
  852.       </services>
  853.       <topics publish="ALLOW">
  854.         <topic>imu</topic>
  855.         <topic>parameter_events</topic>
  856.         <topic>rosout</topic>
  857.       </topics>
  858.       <topics subscribe="ALLOW">
  859.         <topic>clock</topic>
  860.         <topic>parameter_events</topic>
  861.       </topics>
  862.     </profile>
  863.     <profile node="turtlebot3_joint_state" ns="/">
  864.       <services reply="ALLOW">
  865.         <service>~/describe_parameters</service>
  866.         <service>~/get_parameter_types</service>
  867.         <service>~/get_parameters</service>
  868.         <service>~/list_parameters</service>
  869.         <service>~/set_parameters</service>
  870.         <service>~/set_parameters_atomically</service>
  871.       </services>
  872.       <topics publish="ALLOW">
  873.         <topic>joint_states</topic>
  874.         <topic>parameter_events</topic>
  875.         <topic>rosout</topic>
  876.       </topics>
  877.       <topics subscribe="ALLOW">
  878.         <topic>clock</topic>
  879.         <topic>parameter_events</topic>
  880.       </topics>
  881.     </profile>
  882.     <profile node="turtlebot3_laserscan" ns="/">
  883.       <services reply="ALLOW">
  884.         <service>~/describe_parameters</service>
  885.         <service>~/get_parameter_types</service>
  886.         <service>~/get_parameters</service>
  887.         <service>~/list_parameters</service>
  888.         <service>~/set_parameters</service>
  889.         <service>~/set_parameters_atomically</service>
  890.       </services>
  891.       <topics publish="ALLOW">
  892.         <topic>parameter_events</topic>
  893.         <topic>rosout</topic>
  894.         <topic>scan</topic>
  895.       </topics>
  896.       <topics subscribe="ALLOW">
  897.         <topic>clock</topic>
  898.         <topic>parameter_events</topic>
  899.       </topics>
  900.     </profile>
  901.     <profile node="world_model" ns="/">
  902.       <services reply="ALLOW">
  903.         <service>GetCostmap</service>
  904.         <service>GetRobotPose</service>
  905.         <service>~/change_state</service>
  906.         <service>~/describe_parameters</service>
  907.         <service>~/get_available_states</service>
  908.         <service>~/get_available_transitions</service>
  909.         <service>~/get_parameter_types</service>
  910.         <service>~/get_parameters</service>
  911.         <service>~/get_state</service>
  912.         <service>~/get_transition_graph</service>
  913.         <service>~/list_parameters</service>
  914.         <service>~/set_parameters</service>
  915.         <service>~/set_parameters_atomically</service>
  916.       </services>
  917.       <topics publish="ALLOW">
  918.         <topic>parameter_events</topic>
  919.         <topic>rosout</topic>
  920.         <topic>~/transition_event</topic>
  921.       </topics>
  922.       <topics subscribe="ALLOW">
  923.         <topic>clock</topic>
  924.         <topic>parameter_events</topic>
  925.       </topics>
  926.     </profile>
  927.   </profiles>
  928. </policy>
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