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tb3_raw_sros2_policy.xml

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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 reply="ALLOW">
  5.         <service>global_costmap/clear_entirely_global_costmap</service>
  6.       </services>
  7.       <services request="ALLOW">
  8.         <service>global_costmap/clear_entirely_global_costmap</service>
  9.       </services>
  10.       <topics publish="ALLOW">
  11.         <topic>parameter_events</topic>
  12.       </topics>
  13.       <topics subscribe="ALLOW">
  14.         <topic>parameter_events</topic>
  15.       </topics>
  16.     </profile>
  17.     <profile node="_global_costmap_clear_entirely_global_costmap_Node_42432404" ns="/global_costmap"/>
  18.     <profile node="_global_costmap_clear_entirely_global_costmap_Node_42432404" ns="/local_costmap"/>
  19.     <profile node="_global_costmap_clear_entirely_global_costmap_Node_73596424" ns="/">
  20.       <services reply="ALLOW">
  21.         <service>global_costmap/clear_entirely_global_costmap</service>
  22.       </services>
  23.       <services request="ALLOW">
  24.         <service>global_costmap/clear_entirely_global_costmap</service>
  25.       </services>
  26.       <topics publish="ALLOW">
  27.         <topic>parameter_events</topic>
  28.       </topics>
  29.       <topics subscribe="ALLOW">
  30.         <topic>parameter_events</topic>
  31.       </topics>
  32.     </profile>
  33.     <profile node="_global_costmap_clear_entirely_global_costmap_Node_73596424" ns="/global_costmap"/>
  34.     <profile node="_global_costmap_clear_entirely_global_costmap_Node_73596424" ns="/local_costmap"/>
  35.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_25801372" ns="/">
  36.       <services reply="ALLOW">
  37.         <service>local_costmap/clear_entirely_local_costmap</service>
  38.       </services>
  39.       <services request="ALLOW">
  40.         <service>local_costmap/clear_entirely_local_costmap</service>
  41.       </services>
  42.       <topics publish="ALLOW">
  43.         <topic>parameter_events</topic>
  44.       </topics>
  45.       <topics subscribe="ALLOW">
  46.         <topic>parameter_events</topic>
  47.       </topics>
  48.     </profile>
  49.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_25801372" ns="/global_costmap"/>
  50.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_25801372" ns="/local_costmap"/>
  51.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_68691229" ns="/">
  52.       <services reply="ALLOW">
  53.         <service>local_costmap/clear_entirely_local_costmap</service>
  54.       </services>
  55.       <services request="ALLOW">
  56.         <service>local_costmap/clear_entirely_local_costmap</service>
  57.       </services>
  58.       <topics publish="ALLOW">
  59.         <topic>parameter_events</topic>
  60.       </topics>
  61.       <topics subscribe="ALLOW">
  62.         <topic>parameter_events</topic>
  63.       </topics>
  64.     </profile>
  65.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_68691229" ns="/global_costmap"/>
  66.     <profile node="_local_costmap_clear_entirely_local_costmap_Node_68691229" ns="/local_costmap"/>
  67.     <profile node="amcl" ns="/">
  68.       <services reply="ALLOW">
  69.         <service>~/change_state</service>
  70.         <service>~/describe_parameters</service>
  71.         <service>~/get_available_states</service>
  72.         <service>~/get_available_transitions</service>
  73.         <service>~/get_parameter_types</service>
  74.         <service>~/get_parameters</service>
  75.         <service>~/get_state</service>
  76.         <service>~/get_transition_graph</service>
  77.         <service>~/list_parameters</service>
  78.         <service>~/set_parameters</service>
  79.         <service>~/set_parameters_atomically</service>
  80.         <service>global_localization</service>
  81.         <service>request_nomotion_update</service>
  82.       </services>
  83.       <services request="ALLOW">
  84.         <service>~/change_state</service>
  85.         <service>~/describe_parameters</service>
  86.         <service>~/get_available_states</service>
  87.         <service>~/get_available_transitions</service>
  88.         <service>~/get_parameter_types</service>
  89.         <service>~/get_parameters</service>
  90.         <service>~/get_state</service>
  91.         <service>~/get_transition_graph</service>
  92.         <service>~/list_parameters</service>
  93.         <service>~/set_parameters</service>
  94.         <service>~/set_parameters_atomically</service>
  95.         <service>global_localization</service>
  96.         <service>request_nomotion_update</service>
  97.       </services>
  98.       <topics publish="ALLOW">
  99.         <topic>~/transition_event</topic>
  100.       </topics>
  101.       <topics subscribe="ALLOW">
  102.         <topic>~/transition_event</topic>
  103.       </topics>
  104.     </profile>
  105.     <profile node="amcl" ns="/global_costmap"/>
  106.     <profile node="amcl" ns="/local_costmap"/>
  107.     <profile node="amcl_rclcpp_node" ns="/">
  108.       <services reply="ALLOW">
  109.         <service>~/describe_parameters</service>
  110.         <service>~/get_parameter_types</service>
  111.         <service>~/get_parameters</service>
  112.         <service>~/list_parameters</service>
  113.         <service>~/set_parameters</service>
  114.         <service>~/set_parameters_atomically</service>
  115.       </services>
  116.       <services request="ALLOW">
  117.         <service>~/describe_parameters</service>
  118.         <service>~/get_parameter_types</service>
  119.         <service>~/get_parameters</service>
  120.         <service>~/list_parameters</service>
  121.         <service>~/set_parameters</service>
  122.         <service>~/set_parameters_atomically</service>
  123.       </services>
  124.       <topics publish="ALLOW">
  125.         <topic>parameter_events</topic>
  126.       </topics>
  127.       <topics subscribe="ALLOW">
  128.         <topic>parameter_events</topic>
  129.       </topics>
  130.     </profile>
  131.     <profile node="amcl_rclcpp_node" ns="/global_costmap"/>
  132.     <profile node="amcl_rclcpp_node" ns="/local_costmap"/>
  133.     <profile node="bt_navigator" ns="/">
  134.       <services reply="ALLOW">
  135.         <service>~/change_state</service>
  136.         <service>~/describe_parameters</service>
  137.         <service>~/get_available_states</service>
  138.         <service>~/get_available_transitions</service>
  139.         <service>~/get_parameter_types</service>
  140.         <service>~/get_parameters</service>
  141.         <service>~/get_state</service>
  142.         <service>~/get_transition_graph</service>
  143.         <service>~/list_parameters</service>
  144.         <service>~/set_parameters</service>
  145.         <service>~/set_parameters_atomically</service>
  146.       </services>
  147.       <services request="ALLOW">
  148.         <service>~/change_state</service>
  149.         <service>~/describe_parameters</service>
  150.         <service>~/get_available_states</service>
  151.         <service>~/get_available_transitions</service>
  152.         <service>~/get_parameter_types</service>
  153.         <service>~/get_parameters</service>
  154.         <service>~/get_state</service>
  155.         <service>~/get_transition_graph</service>
  156.         <service>~/list_parameters</service>
  157.         <service>~/set_parameters</service>
  158.         <service>~/set_parameters_atomically</service>
  159.       </services>
  160.       <topics publish="ALLOW">
  161.         <topic>~/transition_event</topic>
  162.       </topics>
  163.       <topics subscribe="ALLOW">
  164.         <topic>~/transition_event</topic>
  165.       </topics>
  166.     </profile>
  167.     <profile node="bt_navigator" ns="/global_costmap"/>
  168.     <profile node="bt_navigator" ns="/local_costmap"/>
  169.     <profile node="bt_navigator_client_node" ns="/">
  170.       <actions call="ALLOW">
  171.         <action>ComputePathToPose</action>
  172.       </actions>
  173.       <actions excute="ALLOW">
  174.         <action>ComputePathToPose</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.       <services request="ALLOW">
  185.         <service>~/describe_parameters</service>
  186.         <service>~/get_parameter_types</service>
  187.         <service>~/get_parameters</service>
  188.         <service>~/list_parameters</service>
  189.         <service>~/set_parameters</service>
  190.         <service>~/set_parameters_atomically</service>
  191.       </services>
  192.       <topics publish="ALLOW">
  193.         <topic>parameter_events</topic>
  194.       </topics>
  195.       <topics subscribe="ALLOW">
  196.         <topic>parameter_events</topic>
  197.       </topics>
  198.     </profile>
  199.     <profile node="bt_navigator_client_node" ns="/global_costmap"/>
  200.     <profile node="bt_navigator_client_node" ns="/local_costmap"/>
  201.     <profile node="bt_navigator_global_localization_client" ns="/">
  202.       <services reply="ALLOW">
  203.         <service>~/describe_parameters</service>
  204.         <service>~/get_parameter_types</service>
  205.         <service>~/get_parameters</service>
  206.         <service>~/list_parameters</service>
  207.         <service>~/set_parameters</service>
  208.         <service>~/set_parameters_atomically</service>
  209.         <service>global_localization</service>
  210.       </services>
  211.       <services request="ALLOW">
  212.         <service>global_localization</service>
  213.         <service>~/describe_parameters</service>
  214.         <service>~/get_parameter_types</service>
  215.         <service>~/get_parameters</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>parameter_events</topic>
  222.       </topics>
  223.       <topics subscribe="ALLOW">
  224.         <topic>parameter_events</topic>
  225.       </topics>
  226.     </profile>
  227.     <profile node="bt_navigator_global_localization_client" ns="/global_costmap"/>
  228.     <profile node="bt_navigator_global_localization_client" ns="/local_costmap"/>
  229.     <profile node="bt_navigator_rclcpp_node" ns="/">
  230.       <actions call="ALLOW">
  231.         <action>NavigateToPose</action>
  232.       </actions>
  233.       <actions excute="ALLOW">
  234.         <action>NavigateToPose</action>
  235.       </actions>
  236.       <services reply="ALLOW">
  237.         <service>~/describe_parameters</service>
  238.         <service>~/get_parameter_types</service>
  239.         <service>~/get_parameters</service>
  240.         <service>~/list_parameters</service>
  241.         <service>~/set_parameters</service>
  242.         <service>~/set_parameters_atomically</service>
  243.       </services>
  244.       <services request="ALLOW">
  245.         <service>~/describe_parameters</service>
  246.         <service>~/get_parameter_types</service>
  247.         <service>~/get_parameters</service>
  248.         <service>~/list_parameters</service>
  249.         <service>~/set_parameters</service>
  250.         <service>~/set_parameters_atomically</service>
  251.       </services>
  252.       <topics publish="ALLOW">
  253.         <topic>parameter_events</topic>
  254.       </topics>
  255.       <topics subscribe="ALLOW">
  256.         <topic>parameter_events</topic>
  257.       </topics>
  258.     </profile>
  259.     <profile node="bt_navigator_rclcpp_node" ns="/global_costmap"/>
  260.     <profile node="bt_navigator_rclcpp_node" ns="/local_costmap"/>
  261.     <profile node="cartographer_node" ns="/">
  262.       <services reply="ALLOW">
  263.         <service>~/describe_parameters</service>
  264.         <service>~/get_parameter_types</service>
  265.         <service>~/get_parameters</service>
  266.         <service>~/list_parameters</service>
  267.         <service>~/set_parameters</service>
  268.         <service>~/set_parameters_atomically</service>
  269.         <service>finish_trajectory</service>
  270.         <service>start_trajectory</service>
  271.         <service>submap_query</service>
  272.         <service>write_state</service>
  273.       </services>
  274.       <services request="ALLOW">
  275.         <service>~/describe_parameters</service>
  276.         <service>~/get_parameter_types</service>
  277.         <service>~/get_parameters</service>
  278.         <service>~/list_parameters</service>
  279.         <service>~/set_parameters</service>
  280.         <service>~/set_parameters_atomically</service>
  281.         <service>finish_trajectory</service>
  282.         <service>start_trajectory</service>
  283.         <service>submap_query</service>
  284.         <service>write_state</service>
  285.       </services>
  286.       <topics publish="ALLOW">
  287.         <topic>constraint_list</topic>
  288.       </topics>
  289.       <topics subscribe="ALLOW">
  290.         <topic>constraint_list</topic>
  291.       </topics>
  292.     </profile>
  293.     <profile node="cartographer_node" ns="/global_costmap"/>
  294.     <profile node="cartographer_node" ns="/local_costmap"/>
  295.     <profile node="dwb_controller" ns="/">
  296.       <services reply="ALLOW">
  297.         <service>~/change_state</service>
  298.         <service>~/describe_parameters</service>
  299.         <service>~/get_available_states</service>
  300.         <service>~/get_available_transitions</service>
  301.         <service>~/get_parameter_types</service>
  302.         <service>~/get_parameters</service>
  303.         <service>~/get_state</service>
  304.         <service>~/get_transition_graph</service>
  305.         <service>~/list_parameters</service>
  306.         <service>~/set_parameters</service>
  307.         <service>~/set_parameters_atomically</service>
  308.       </services>
  309.       <services request="ALLOW">
  310.         <service>~/change_state</service>
  311.         <service>~/describe_parameters</service>
  312.         <service>~/get_available_states</service>
  313.         <service>~/get_available_transitions</service>
  314.         <service>~/get_parameter_types</service>
  315.         <service>~/get_parameters</service>
  316.         <service>~/get_state</service>
  317.         <service>~/get_transition_graph</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>cmd_vel</topic>
  324.       </topics>
  325.       <topics subscribe="ALLOW">
  326.         <topic>cmd_vel</topic>
  327.       </topics>
  328.     </profile>
  329.     <profile node="dwb_controller" ns="/global_costmap"/>
  330.     <profile node="dwb_controller" ns="/local_costmap"/>
  331.     <profile node="dwb_controller_rclcpp_node" ns="/">
  332.       <actions call="ALLOW">
  333.         <action>FollowPath</action>
  334.       </actions>
  335.       <actions excute="ALLOW">
  336.         <action>FollowPath</action>
  337.       </actions>
  338.       <services reply="ALLOW">
  339.         <service>~/describe_parameters</service>
  340.         <service>~/get_parameter_types</service>
  341.         <service>~/get_parameters</service>
  342.         <service>~/list_parameters</service>
  343.         <service>~/set_parameters</service>
  344.         <service>~/set_parameters_atomically</service>
  345.       </services>
  346.       <services request="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.       </services>
  354.       <topics publish="ALLOW">
  355.         <topic>parameter_events</topic>
  356.       </topics>
  357.       <topics subscribe="ALLOW">
  358.         <topic>parameter_events</topic>
  359.       </topics>
  360.     </profile>
  361.     <profile node="dwb_controller_rclcpp_node" ns="/global_costmap"/>
  362.     <profile node="dwb_controller_rclcpp_node" ns="/local_costmap"/>
  363.     <profile node="gazebo" ns="/">
  364.       <services reply="ALLOW">
  365.         <service>~/describe_parameters</service>
  366.         <service>~/get_parameter_types</service>
  367.         <service>~/get_parameters</service>
  368.         <service>~/list_parameters</service>
  369.         <service>~/set_parameters</service>
  370.         <service>~/set_parameters_atomically</service>
  371.       </services>
  372.       <services request="ALLOW">
  373.         <service>~/describe_parameters</service>
  374.         <service>~/get_parameter_types</service>
  375.         <service>~/get_parameters</service>
  376.         <service>~/list_parameters</service>
  377.         <service>~/set_parameters</service>
  378.         <service>~/set_parameters_atomically</service>
  379.       </services>
  380.       <topics publish="ALLOW">
  381.         <topic>clock</topic>
  382.       </topics>
  383.       <topics subscribe="ALLOW">
  384.         <topic>clock</topic>
  385.       </topics>
  386.     </profile>
  387.     <profile node="gazebo" ns="/global_costmap"/>
  388.     <profile node="gazebo" ns="/local_costmap"/>
  389.     <profile node="global_costmap" ns="/"/>
  390.     <profile node="global_costmap" ns="/global_costmap">
  391.       <services reply="ALLOW">
  392.         <service>clear_around_global_costmap</service>
  393.         <service>clear_entirely_global_costmap</service>
  394.         <service>clear_except_global_costmap</service>
  395.         <service>~/change_state</service>
  396.         <service>~/describe_parameters</service>
  397.         <service>~/get_available_states</service>
  398.         <service>~/get_available_transitions</service>
  399.         <service>~/get_parameter_types</service>
  400.         <service>~/get_parameters</service>
  401.         <service>~/get_state</service>
  402.         <service>~/get_transition_graph</service>
  403.         <service>~/list_parameters</service>
  404.         <service>~/set_parameters</service>
  405.         <service>~/set_parameters_atomically</service>
  406.       </services>
  407.       <services request="ALLOW">
  408.         <service>clear_around_global_costmap</service>
  409.         <service>clear_entirely_global_costmap</service>
  410.         <service>clear_except_global_costmap</service>
  411.         <service>~/change_state</service>
  412.         <service>~/describe_parameters</service>
  413.         <service>~/get_available_states</service>
  414.         <service>~/get_available_transitions</service>
  415.         <service>~/get_parameter_types</service>
  416.         <service>~/get_parameters</service>
  417.         <service>~/get_state</service>
  418.         <service>~/get_transition_graph</service>
  419.         <service>~/list_parameters</service>
  420.         <service>~/set_parameters</service>
  421.         <service>~/set_parameters_atomically</service>
  422.       </services>
  423.       <topics publish="ALLOW">
  424.         <topic>costmap</topic>
  425.       </topics>
  426.       <topics subscribe="ALLOW">
  427.         <topic>costmap</topic>
  428.       </topics>
  429.     </profile>
  430.     <profile node="global_costmap" ns="/local_costmap"/>
  431.     <profile node="global_costmap_client" ns="/">
  432.       <services reply="ALLOW">
  433.         <service>~/describe_parameters</service>
  434.         <service>~/get_parameter_types</service>
  435.         <service>~/get_parameters</service>
  436.         <service>~/list_parameters</service>
  437.         <service>~/set_parameters</service>
  438.         <service>~/set_parameters_atomically</service>
  439.       </services>
  440.       <services request="ALLOW">
  441.         <service>~/describe_parameters</service>
  442.         <service>~/get_parameter_types</service>
  443.         <service>~/get_parameters</service>
  444.         <service>~/list_parameters</service>
  445.         <service>~/set_parameters</service>
  446.         <service>~/set_parameters_atomically</service>
  447.       </services>
  448.       <topics publish="ALLOW">
  449.         <topic>parameter_events</topic>
  450.       </topics>
  451.       <topics subscribe="ALLOW">
  452.         <topic>parameter_events</topic>
  453.       </topics>
  454.     </profile>
  455.     <profile node="global_costmap_client" ns="/global_costmap"/>
  456.     <profile node="global_costmap_client" ns="/local_costmap"/>
  457.     <profile node="global_costmap_rclcpp_node" ns="/"/>
  458.     <profile node="global_costmap_rclcpp_node" ns="/global_costmap">
  459.       <services reply="ALLOW">
  460.         <service>~/describe_parameters</service>
  461.         <service>~/get_parameter_types</service>
  462.         <service>~/get_parameters</service>
  463.         <service>~/list_parameters</service>
  464.         <service>~/set_parameters</service>
  465.         <service>~/set_parameters_atomically</service>
  466.       </services>
  467.       <services request="ALLOW">
  468.         <service>~/describe_parameters</service>
  469.         <service>~/get_parameter_types</service>
  470.         <service>~/get_parameters</service>
  471.         <service>~/list_parameters</service>
  472.         <service>~/set_parameters</service>
  473.         <service>~/set_parameters_atomically</service>
  474.       </services>
  475.       <topics publish="ALLOW">
  476.         <topic>parameter_events</topic>
  477.       </topics>
  478.       <topics subscribe="ALLOW">
  479.         <topic>parameter_events</topic>
  480.       </topics>
  481.     </profile>
  482.     <profile node="global_costmap_rclcpp_node" ns="/local_costmap"/>
  483.     <profile node="launch_ros" ns="/">
  484.       <services reply="ALLOW">
  485.         <service>~/describe_parameters</service>
  486.         <service>~/get_parameter_types</service>
  487.         <service>~/get_parameters</service>
  488.         <service>~/list_parameters</service>
  489.         <service>~/set_parameters</service>
  490.         <service>~/set_parameters_atomically</service>
  491.       </services>
  492.       <services request="ALLOW">
  493.         <service>~/describe_parameters</service>
  494.         <service>~/get_parameter_types</service>
  495.         <service>~/get_parameters</service>
  496.         <service>~/list_parameters</service>
  497.         <service>~/set_parameters</service>
  498.         <service>~/set_parameters_atomically</service>
  499.       </services>
  500.       <topics publish="ALLOW">
  501.         <topic>parameter_events</topic>
  502.       </topics>
  503.       <topics subscribe="ALLOW">
  504.         <topic>parameter_events</topic>
  505.       </topics>
  506.     </profile>
  507.     <profile node="launch_ros" ns="/global_costmap"/>
  508.     <profile node="launch_ros" ns="/local_costmap"/>
  509.     <profile node="lifecycle_manager" ns="/">
  510.       <services reply="ALLOW">
  511.         <service>~/describe_parameters</service>
  512.         <service>~/get_parameter_types</service>
  513.         <service>~/get_parameters</service>
  514.         <service>~/list_parameters</service>
  515.         <service>~/set_parameters</service>
  516.         <service>~/set_parameters_atomically</service>
  517.         <service>~/shutdown</service>
  518.         <service>~/startup</service>
  519.       </services>
  520.       <services request="ALLOW">
  521.         <service>~/describe_parameters</service>
  522.         <service>~/get_parameter_types</service>
  523.         <service>~/get_parameters</service>
  524.         <service>~/list_parameters</service>
  525.         <service>~/set_parameters</service>
  526.         <service>~/set_parameters_atomically</service>
  527.         <service>~/shutdown</service>
  528.         <service>~/startup</service>
  529.       </services>
  530.       <topics publish="ALLOW">
  531.         <topic>parameter_events</topic>
  532.       </topics>
  533.       <topics subscribe="ALLOW">
  534.         <topic>parameter_events</topic>
  535.       </topics>
  536.     </profile>
  537.     <profile node="lifecycle_manager" ns="/global_costmap"/>
  538.     <profile node="lifecycle_manager" ns="/local_costmap"/>
  539.     <profile node="lifecycle_managerservice_client" ns="/">
  540.       <services reply="ALLOW">
  541.         <service>~/describe_parameters</service>
  542.         <service>~/get_parameter_types</service>
  543.         <service>~/get_parameters</service>
  544.         <service>~/list_parameters</service>
  545.         <service>~/set_parameters</service>
  546.         <service>~/set_parameters_atomically</service>
  547.         <service>amcl/change_state</service>
  548.         <service>amcl/get_state</service>
  549.         <service>bt_navigator/change_state</service>
  550.         <service>bt_navigator/get_state</service>
  551.         <service>dwb_controller/change_state</service>
  552.         <service>dwb_controller/get_state</service>
  553.         <service>map_server/change_state</service>
  554.         <service>map_server/get_state</service>
  555.         <service>navfn_planner/change_state</service>
  556.         <service>navfn_planner/get_state</service>
  557.         <service>world_model/change_state</service>
  558.         <service>world_model/get_state</service>
  559.       </services>
  560.       <services request="ALLOW">
  561.         <service>amcl/change_state</service>
  562.         <service>amcl/get_state</service>
  563.         <service>bt_navigator/change_state</service>
  564.         <service>bt_navigator/get_state</service>
  565.         <service>dwb_controller/change_state</service>
  566.         <service>dwb_controller/get_state</service>
  567.         <service>map_server/change_state</service>
  568.         <service>map_server/get_state</service>
  569.         <service>navfn_planner/change_state</service>
  570.         <service>navfn_planner/get_state</service>
  571.         <service>world_model/change_state</service>
  572.         <service>world_model/get_state</service>
  573.         <service>~/describe_parameters</service>
  574.         <service>~/get_parameter_types</service>
  575.         <service>~/get_parameters</service>
  576.         <service>~/list_parameters</service>
  577.         <service>~/set_parameters</service>
  578.         <service>~/set_parameters_atomically</service>
  579.       </services>
  580.       <topics publish="ALLOW">
  581.         <topic>parameter_events</topic>
  582.       </topics>
  583.       <topics subscribe="ALLOW">
  584.         <topic>parameter_events</topic>
  585.       </topics>
  586.     </profile>
  587.     <profile node="lifecycle_managerservice_client" ns="/global_costmap"/>
  588.     <profile node="lifecycle_managerservice_client" ns="/local_costmap"/>
  589.     <profile node="local_costmap" ns="/"/>
  590.     <profile node="local_costmap" ns="/global_costmap"/>
  591.     <profile node="local_costmap" ns="/local_costmap">
  592.       <services reply="ALLOW">
  593.         <service>clear_around_local_costmap</service>
  594.         <service>clear_entirely_local_costmap</service>
  595.         <service>clear_except_local_costmap</service>
  596.         <service>~/change_state</service>
  597.         <service>~/describe_parameters</service>
  598.         <service>~/get_available_states</service>
  599.         <service>~/get_available_transitions</service>
  600.         <service>~/get_parameter_types</service>
  601.         <service>~/get_parameters</service>
  602.         <service>~/get_state</service>
  603.         <service>~/get_transition_graph</service>
  604.         <service>~/list_parameters</service>
  605.         <service>~/set_parameters</service>
  606.         <service>~/set_parameters_atomically</service>
  607.       </services>
  608.       <services request="ALLOW">
  609.         <service>clear_around_local_costmap</service>
  610.         <service>clear_entirely_local_costmap</service>
  611.         <service>clear_except_local_costmap</service>
  612.         <service>~/change_state</service>
  613.         <service>~/describe_parameters</service>
  614.         <service>~/get_available_states</service>
  615.         <service>~/get_available_transitions</service>
  616.         <service>~/get_parameter_types</service>
  617.         <service>~/get_parameters</service>
  618.         <service>~/get_state</service>
  619.         <service>~/get_transition_graph</service>
  620.         <service>~/list_parameters</service>
  621.         <service>~/set_parameters</service>
  622.         <service>~/set_parameters_atomically</service>
  623.       </services>
  624.       <topics publish="ALLOW">
  625.         <topic>costmap</topic>
  626.       </topics>
  627.       <topics subscribe="ALLOW">
  628.         <topic>costmap</topic>
  629.       </topics>
  630.     </profile>
  631.     <profile node="local_costmap_client" ns="/">
  632.       <services reply="ALLOW">
  633.         <service>~/describe_parameters</service>
  634.         <service>~/get_parameter_types</service>
  635.         <service>~/get_parameters</service>
  636.         <service>~/list_parameters</service>
  637.         <service>~/set_parameters</service>
  638.         <service>~/set_parameters_atomically</service>
  639.       </services>
  640.       <services request="ALLOW">
  641.         <service>~/describe_parameters</service>
  642.         <service>~/get_parameter_types</service>
  643.         <service>~/get_parameters</service>
  644.         <service>~/list_parameters</service>
  645.         <service>~/set_parameters</service>
  646.         <service>~/set_parameters_atomically</service>
  647.       </services>
  648.       <topics publish="ALLOW">
  649.         <topic>parameter_events</topic>
  650.       </topics>
  651.       <topics subscribe="ALLOW">
  652.         <topic>parameter_events</topic>
  653.       </topics>
  654.     </profile>
  655.     <profile node="local_costmap_client" ns="/global_costmap"/>
  656.     <profile node="local_costmap_client" ns="/local_costmap"/>
  657.     <profile node="local_costmap_rclcpp_node" ns="/"/>
  658.     <profile node="local_costmap_rclcpp_node" ns="/global_costmap"/>
  659.     <profile node="local_costmap_rclcpp_node" ns="/local_costmap">
  660.       <services reply="ALLOW">
  661.         <service>~/describe_parameters</service>
  662.         <service>~/get_parameter_types</service>
  663.         <service>~/get_parameters</service>
  664.         <service>~/list_parameters</service>
  665.         <service>~/set_parameters</service>
  666.         <service>~/set_parameters_atomically</service>
  667.       </services>
  668.       <services request="ALLOW">
  669.         <service>~/describe_parameters</service>
  670.         <service>~/get_parameter_types</service>
  671.         <service>~/get_parameters</service>
  672.         <service>~/list_parameters</service>
  673.         <service>~/set_parameters</service>
  674.         <service>~/set_parameters_atomically</service>
  675.       </services>
  676.       <topics publish="ALLOW">
  677.         <topic>parameter_events</topic>
  678.       </topics>
  679.       <topics subscribe="ALLOW">
  680.         <topic>parameter_events</topic>
  681.       </topics>
  682.     </profile>
  683.     <profile node="map_saver" ns="/">
  684.       <services reply="ALLOW">
  685.         <service>~/describe_parameters</service>
  686.         <service>~/get_parameter_types</service>
  687.         <service>~/get_parameters</service>
  688.         <service>~/list_parameters</service>
  689.         <service>~/set_parameters</service>
  690.         <service>~/set_parameters_atomically</service>
  691.       </services>
  692.       <services request="ALLOW">
  693.         <service>~/describe_parameters</service>
  694.         <service>~/get_parameter_types</service>
  695.         <service>~/get_parameters</service>
  696.         <service>~/list_parameters</service>
  697.         <service>~/set_parameters</service>
  698.         <service>~/set_parameters_atomically</service>
  699.       </services>
  700.       <topics publish="ALLOW">
  701.         <topic>parameter_events</topic>
  702.       </topics>
  703.       <topics subscribe="ALLOW">
  704.         <topic>parameter_events</topic>
  705.       </topics>
  706.     </profile>
  707.     <profile node="map_saver" ns="/global_costmap"/>
  708.     <profile node="map_saver" ns="/local_costmap"/>
  709.     <profile node="map_server" ns="/">
  710.       <services reply="ALLOW">
  711.         <service>map</service>
  712.         <service>~/change_state</service>
  713.         <service>~/describe_parameters</service>
  714.         <service>~/get_available_states</service>
  715.         <service>~/get_available_transitions</service>
  716.         <service>~/get_parameter_types</service>
  717.         <service>~/get_parameters</service>
  718.         <service>~/get_state</service>
  719.         <service>~/get_transition_graph</service>
  720.         <service>~/list_parameters</service>
  721.         <service>~/set_parameters</service>
  722.         <service>~/set_parameters_atomically</service>
  723.       </services>
  724.       <services request="ALLOW">
  725.         <service>map</service>
  726.         <service>~/change_state</service>
  727.         <service>~/describe_parameters</service>
  728.         <service>~/get_available_states</service>
  729.         <service>~/get_available_transitions</service>
  730.         <service>~/get_parameter_types</service>
  731.         <service>~/get_parameters</service>
  732.         <service>~/get_state</service>
  733.         <service>~/get_transition_graph</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>map</topic>
  740.       </topics>
  741.       <topics subscribe="ALLOW">
  742.         <topic>map</topic>
  743.       </topics>
  744.     </profile>
  745.     <profile node="map_server" ns="/global_costmap"/>
  746.     <profile node="map_server" ns="/local_costmap"/>
  747.     <profile node="navfn_planner" ns="/">
  748.       <services reply="ALLOW">
  749.         <service>~/change_state</service>
  750.         <service>~/describe_parameters</service>
  751.         <service>~/get_available_states</service>
  752.         <service>~/get_available_transitions</service>
  753.         <service>~/get_parameter_types</service>
  754.         <service>~/get_parameters</service>
  755.         <service>~/get_state</service>
  756.         <service>~/get_transition_graph</service>
  757.         <service>~/list_parameters</service>
  758.         <service>~/set_parameters</service>
  759.         <service>~/set_parameters_atomically</service>
  760.       </services>
  761.       <services request="ALLOW">
  762.         <service>~/change_state</service>
  763.         <service>~/describe_parameters</service>
  764.         <service>~/get_available_states</service>
  765.         <service>~/get_available_transitions</service>
  766.         <service>~/get_parameter_types</service>
  767.         <service>~/get_parameters</service>
  768.         <service>~/get_state</service>
  769.         <service>~/get_transition_graph</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>endpoints</topic>
  776.       </topics>
  777.       <topics subscribe="ALLOW">
  778.         <topic>endpoints</topic>
  779.       </topics>
  780.     </profile>
  781.     <profile node="navfn_planner" ns="/global_costmap"/>
  782.     <profile node="navfn_planner" ns="/local_costmap"/>
  783.     <profile node="navfn_planner_GetCostmap_client" 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.         <service>GetCostmap</service>
  792.       </services>
  793.       <services request="ALLOW">
  794.         <service>GetCostmap</service>
  795.         <service>~/describe_parameters</service>
  796.         <service>~/get_parameter_types</service>
  797.         <service>~/get_parameters</service>
  798.         <service>~/list_parameters</service>
  799.         <service>~/set_parameters</service>
  800.         <service>~/set_parameters_atomically</service>
  801.       </services>
  802.       <topics publish="ALLOW">
  803.         <topic>parameter_events</topic>
  804.       </topics>
  805.       <topics subscribe="ALLOW">
  806.         <topic>parameter_events</topic>
  807.       </topics>
  808.     </profile>
  809.     <profile node="navfn_planner_GetCostmap_client" ns="/global_costmap"/>
  810.     <profile node="navfn_planner_GetCostmap_client" ns="/local_costmap"/>
  811.     <profile node="navfn_planner_GetRobotPose_client" ns="/">
  812.       <services reply="ALLOW">
  813.         <service>~/describe_parameters</service>
  814.         <service>~/get_parameter_types</service>
  815.         <service>~/get_parameters</service>
  816.         <service>~/list_parameters</service>
  817.         <service>~/set_parameters</service>
  818.         <service>~/set_parameters_atomically</service>
  819.         <service>GetRobotPose</service>
  820.       </services>
  821.       <services request="ALLOW">
  822.         <service>GetRobotPose</service>
  823.         <service>~/describe_parameters</service>
  824.         <service>~/get_parameter_types</service>
  825.         <service>~/get_parameters</service>
  826.         <service>~/list_parameters</service>
  827.         <service>~/set_parameters</service>
  828.         <service>~/set_parameters_atomically</service>
  829.       </services>
  830.       <topics publish="ALLOW">
  831.         <topic>parameter_events</topic>
  832.       </topics>
  833.       <topics subscribe="ALLOW">
  834.         <topic>parameter_events</topic>
  835.       </topics>
  836.     </profile>
  837.     <profile node="navfn_planner_GetRobotPose_client" ns="/global_costmap"/>
  838.     <profile node="navfn_planner_GetRobotPose_client" ns="/local_costmap"/>
  839.     <profile node="navfn_planner_rclcpp_node" ns="/">
  840.       <actions call="ALLOW">
  841.         <action>ComputePathToPose</action>
  842.       </actions>
  843.       <actions excute="ALLOW">
  844.         <action>ComputePathToPose</action>
  845.       </actions>
  846.       <services reply="ALLOW">
  847.         <service>~/describe_parameters</service>
  848.         <service>~/get_parameter_types</service>
  849.         <service>~/get_parameters</service>
  850.         <service>~/list_parameters</service>
  851.         <service>~/set_parameters</service>
  852.         <service>~/set_parameters_atomically</service>
  853.       </services>
  854.       <services request="ALLOW">
  855.         <service>~/describe_parameters</service>
  856.         <service>~/get_parameter_types</service>
  857.         <service>~/get_parameters</service>
  858.         <service>~/list_parameters</service>
  859.         <service>~/set_parameters</service>
  860.         <service>~/set_parameters_atomically</service>
  861.       </services>
  862.       <topics publish="ALLOW">
  863.         <topic>parameter_events</topic>
  864.       </topics>
  865.       <topics subscribe="ALLOW">
  866.         <topic>parameter_events</topic>
  867.       </topics>
  868.     </profile>
  869.     <profile node="navfn_planner_rclcpp_node" ns="/global_costmap"/>
  870.     <profile node="navfn_planner_rclcpp_node" ns="/local_costmap"/>
  871.     <profile node="navigation_dialog_action_client" ns="/">
  872.       <actions call="ALLOW">
  873.         <action>NavigateToPose</action>
  874.       </actions>
  875.       <actions excute="ALLOW">
  876.         <action>NavigateToPose</action>
  877.       </actions>
  878.       <services reply="ALLOW">
  879.         <service>~/describe_parameters</service>
  880.         <service>~/get_parameter_types</service>
  881.         <service>~/get_parameters</service>
  882.         <service>~/list_parameters</service>
  883.         <service>~/set_parameters</service>
  884.         <service>~/set_parameters_atomically</service>
  885.       </services>
  886.       <services request="ALLOW">
  887.         <service>~/describe_parameters</service>
  888.         <service>~/get_parameter_types</service>
  889.         <service>~/get_parameters</service>
  890.         <service>~/list_parameters</service>
  891.         <service>~/set_parameters</service>
  892.         <service>~/set_parameters_atomically</service>
  893.       </services>
  894.       <topics publish="ALLOW">
  895.         <topic>parameter_events</topic>
  896.       </topics>
  897.       <topics subscribe="ALLOW">
  898.         <topic>parameter_events</topic>
  899.       </topics>
  900.     </profile>
  901.     <profile node="navigation_dialog_action_client" ns="/global_costmap"/>
  902.     <profile node="navigation_dialog_action_client" ns="/local_costmap"/>
  903.     <profile node="occupancy_grid_node" ns="/">
  904.       <services reply="ALLOW">
  905.         <service>~/describe_parameters</service>
  906.         <service>~/get_parameter_types</service>
  907.         <service>~/get_parameters</service>
  908.         <service>~/list_parameters</service>
  909.         <service>~/set_parameters</service>
  910.         <service>~/set_parameters_atomically</service>
  911.         <service>submap_query</service>
  912.       </services>
  913.       <services request="ALLOW">
  914.         <service>submap_query</service>
  915.         <service>~/describe_parameters</service>
  916.         <service>~/get_parameter_types</service>
  917.         <service>~/get_parameters</service>
  918.         <service>~/list_parameters</service>
  919.         <service>~/set_parameters</service>
  920.         <service>~/set_parameters_atomically</service>
  921.       </services>
  922.       <topics publish="ALLOW">
  923.         <topic>map</topic>
  924.       </topics>
  925.       <topics subscribe="ALLOW">
  926.         <topic>map</topic>
  927.       </topics>
  928.     </profile>
  929.     <profile node="occupancy_grid_node" ns="/global_costmap"/>
  930.     <profile node="occupancy_grid_node" ns="/local_costmap"/>
  931.     <profile node="recoveries" ns="/">
  932.       <actions call="ALLOW">
  933.         <action>BackUp</action>
  934.       </actions>
  935.       <actions excute="ALLOW">
  936.         <action>BackUp</action>
  937.       </actions>
  938.       <services reply="ALLOW">
  939.         <service>~/describe_parameters</service>
  940.         <service>~/get_parameter_types</service>
  941.         <service>~/get_parameters</service>
  942.         <service>~/list_parameters</service>
  943.         <service>~/set_parameters</service>
  944.         <service>~/set_parameters_atomically</service>
  945.       </services>
  946.       <services request="ALLOW">
  947.         <service>~/describe_parameters</service>
  948.         <service>~/get_parameter_types</service>
  949.         <service>~/get_parameters</service>
  950.         <service>~/list_parameters</service>
  951.         <service>~/set_parameters</service>
  952.         <service>~/set_parameters_atomically</service>
  953.       </services>
  954.       <topics publish="ALLOW">
  955.         <topic>cmd_vel</topic>
  956.       </topics>
  957.       <topics subscribe="ALLOW">
  958.         <topic>cmd_vel</topic>
  959.       </topics>
  960.     </profile>
  961.     <profile node="recoveries" ns="/global_costmap"/>
  962.     <profile node="recoveries" ns="/local_costmap"/>
  963.     <profile node="recovery_GetRobotPose_client" ns="/">
  964.       <services reply="ALLOW">
  965.         <service>~/describe_parameters</service>
  966.         <service>~/get_parameter_types</service>
  967.         <service>~/get_parameters</service>
  968.         <service>~/list_parameters</service>
  969.         <service>~/set_parameters</service>
  970.         <service>~/set_parameters_atomically</service>
  971.         <service>GetRobotPose</service>
  972.       </services>
  973.       <services request="ALLOW">
  974.         <service>GetRobotPose</service>
  975.         <service>~/describe_parameters</service>
  976.         <service>~/get_parameter_types</service>
  977.         <service>~/get_parameters</service>
  978.         <service>~/list_parameters</service>
  979.         <service>~/set_parameters</service>
  980.         <service>~/set_parameters_atomically</service>
  981.       </services>
  982.       <topics publish="ALLOW">
  983.         <topic>parameter_events</topic>
  984.       </topics>
  985.       <topics subscribe="ALLOW">
  986.         <topic>parameter_events</topic>
  987.       </topics>
  988.     </profile>
  989.     <profile node="recovery_GetRobotPose_client" ns="/global_costmap"/>
  990.     <profile node="recovery_GetRobotPose_client" ns="/local_costmap"/>
  991.     <profile node="robot_state_publisher" ns="/">
  992.       <services reply="ALLOW">
  993.         <service>~/describe_parameters</service>
  994.         <service>~/get_parameter_types</service>
  995.         <service>~/get_parameters</service>
  996.         <service>~/list_parameters</service>
  997.         <service>~/set_parameters</service>
  998.         <service>~/set_parameters_atomically</service>
  999.       </services>
  1000.       <services request="ALLOW">
  1001.         <service>~/describe_parameters</service>
  1002.         <service>~/get_parameter_types</service>
  1003.         <service>~/get_parameters</service>
  1004.         <service>~/list_parameters</service>
  1005.         <service>~/set_parameters</service>
  1006.         <service>~/set_parameters_atomically</service>
  1007.       </services>
  1008.       <topics publish="ALLOW">
  1009.         <topic>parameter_events</topic>
  1010.       </topics>
  1011.       <topics subscribe="ALLOW">
  1012.         <topic>parameter_events</topic>
  1013.       </topics>
  1014.     </profile>
  1015.     <profile node="robot_state_publisher" ns="/global_costmap"/>
  1016.     <profile node="robot_state_publisher" ns="/local_costmap"/>
  1017.     <profile node="rviz2" ns="/">
  1018.       <actions call="ALLOW">
  1019.         <action>NavigateToPose</action>
  1020.       </actions>
  1021.       <actions excute="ALLOW">
  1022.         <action>NavigateToPose</action>
  1023.       </actions>
  1024.       <services reply="ALLOW">
  1025.         <service>~/describe_parameters</service>
  1026.         <service>~/get_parameter_types</service>
  1027.         <service>~/get_parameters</service>
  1028.         <service>~/list_parameters</service>
  1029.         <service>~/set_parameters</service>
  1030.         <service>~/set_parameters_atomically</service>
  1031.         <service>lifecycle_manager/shutdown</service>
  1032.         <service>lifecycle_manager/startup</service>
  1033.       </services>
  1034.       <services request="ALLOW">
  1035.         <service>lifecycle_manager/shutdown</service>
  1036.         <service>lifecycle_manager/startup</service>
  1037.         <service>~/describe_parameters</service>
  1038.         <service>~/get_parameter_types</service>
  1039.         <service>~/get_parameters</service>
  1040.         <service>~/list_parameters</service>
  1041.         <service>~/set_parameters</service>
  1042.         <service>~/set_parameters_atomically</service>
  1043.       </services>
  1044.       <topics publish="ALLOW">
  1045.         <topic>clicked_point</topic>
  1046.       </topics>
  1047.       <topics subscribe="ALLOW">
  1048.         <topic>clicked_point</topic>
  1049.       </topics>
  1050.     </profile>
  1051.     <profile node="rviz2" ns="/global_costmap"/>
  1052.     <profile node="rviz2" ns="/local_costmap"/>
  1053.     <profile node="teleop_keyboard" ns="/">
  1054.       <services reply="ALLOW">
  1055.         <service>~/describe_parameters</service>
  1056.         <service>~/get_parameter_types</service>
  1057.         <service>~/get_parameters</service>
  1058.         <service>~/list_parameters</service>
  1059.         <service>~/set_parameters</service>
  1060.         <service>~/set_parameters_atomically</service>
  1061.       </services>
  1062.       <services request="ALLOW">
  1063.         <service>~/describe_parameters</service>
  1064.         <service>~/get_parameter_types</service>
  1065.         <service>~/get_parameters</service>
  1066.         <service>~/list_parameters</service>
  1067.         <service>~/set_parameters</service>
  1068.         <service>~/set_parameters_atomically</service>
  1069.       </services>
  1070.       <topics publish="ALLOW">
  1071.         <topic>cmd_vel</topic>
  1072.       </topics>
  1073.       <topics subscribe="ALLOW">
  1074.         <topic>cmd_vel</topic>
  1075.       </topics>
  1076.     </profile>
  1077.     <profile node="teleop_keyboard" ns="/global_costmap"/>
  1078.     <profile node="teleop_keyboard" ns="/local_costmap"/>
  1079.     <profile node="transform_listener_impl" ns="/">
  1080.       <services reply="ALLOW">
  1081.         <service>~/describe_parameters</service>
  1082.         <service>~/get_parameter_types</service>
  1083.         <service>~/get_parameters</service>
  1084.         <service>~/list_parameters</service>
  1085.         <service>~/set_parameters</service>
  1086.         <service>~/set_parameters_atomically</service>
  1087.       </services>
  1088.       <services request="ALLOW">
  1089.         <service>~/describe_parameters</service>
  1090.         <service>~/get_parameter_types</service>
  1091.         <service>~/get_parameters</service>
  1092.         <service>~/list_parameters</service>
  1093.         <service>~/set_parameters</service>
  1094.         <service>~/set_parameters_atomically</service>
  1095.       </services>
  1096.       <topics publish="ALLOW">
  1097.         <topic>parameter_events</topic>
  1098.       </topics>
  1099.       <topics subscribe="ALLOW">
  1100.         <topic>parameter_events</topic>
  1101.       </topics>
  1102.     </profile>
  1103.     <profile node="transform_listener_impl" ns="/global_costmap"/>
  1104.     <profile node="transform_listener_impl" ns="/local_costmap"/>
  1105.     <profile node="turtlebot3_diff_drive" ns="/">
  1106.       <services reply="ALLOW">
  1107.         <service>~/describe_parameters</service>
  1108.         <service>~/get_parameter_types</service>
  1109.         <service>~/get_parameters</service>
  1110.         <service>~/list_parameters</service>
  1111.         <service>~/set_parameters</service>
  1112.         <service>~/set_parameters_atomically</service>
  1113.       </services>
  1114.       <services request="ALLOW">
  1115.         <service>~/describe_parameters</service>
  1116.         <service>~/get_parameter_types</service>
  1117.         <service>~/get_parameters</service>
  1118.         <service>~/list_parameters</service>
  1119.         <service>~/set_parameters</service>
  1120.         <service>~/set_parameters_atomically</service>
  1121.       </services>
  1122.       <topics publish="ALLOW">
  1123.         <topic>odom</topic>
  1124.       </topics>
  1125.       <topics subscribe="ALLOW">
  1126.         <topic>odom</topic>
  1127.       </topics>
  1128.     </profile>
  1129.     <profile node="turtlebot3_diff_drive" ns="/global_costmap"/>
  1130.     <profile node="turtlebot3_diff_drive" ns="/local_costmap"/>
  1131.     <profile node="turtlebot3_imu" ns="/">
  1132.       <services reply="ALLOW">
  1133.         <service>~/describe_parameters</service>
  1134.         <service>~/get_parameter_types</service>
  1135.         <service>~/get_parameters</service>
  1136.         <service>~/list_parameters</service>
  1137.         <service>~/set_parameters</service>
  1138.         <service>~/set_parameters_atomically</service>
  1139.       </services>
  1140.       <services request="ALLOW">
  1141.         <service>~/describe_parameters</service>
  1142.         <service>~/get_parameter_types</service>
  1143.         <service>~/get_parameters</service>
  1144.         <service>~/list_parameters</service>
  1145.         <service>~/set_parameters</service>
  1146.         <service>~/set_parameters_atomically</service>
  1147.       </services>
  1148.       <topics publish="ALLOW">
  1149.         <topic>imu</topic>
  1150.       </topics>
  1151.       <topics subscribe="ALLOW">
  1152.         <topic>imu</topic>
  1153.       </topics>
  1154.     </profile>
  1155.     <profile node="turtlebot3_imu" ns="/global_costmap"/>
  1156.     <profile node="turtlebot3_imu" ns="/local_costmap"/>
  1157.     <profile node="turtlebot3_joint_state" ns="/">
  1158.       <services reply="ALLOW">
  1159.         <service>~/describe_parameters</service>
  1160.         <service>~/get_parameter_types</service>
  1161.         <service>~/get_parameters</service>
  1162.         <service>~/list_parameters</service>
  1163.         <service>~/set_parameters</service>
  1164.         <service>~/set_parameters_atomically</service>
  1165.       </services>
  1166.       <services request="ALLOW">
  1167.         <service>~/describe_parameters</service>
  1168.         <service>~/get_parameter_types</service>
  1169.         <service>~/get_parameters</service>
  1170.         <service>~/list_parameters</service>
  1171.         <service>~/set_parameters</service>
  1172.         <service>~/set_parameters_atomically</service>
  1173.       </services>
  1174.       <topics publish="ALLOW">
  1175.         <topic>joint_states</topic>
  1176.       </topics>
  1177.       <topics subscribe="ALLOW">
  1178.         <topic>joint_states</topic>
  1179.       </topics>
  1180.     </profile>
  1181.     <profile node="turtlebot3_joint_state" ns="/global_costmap"/>
  1182.     <profile node="turtlebot3_joint_state" ns="/local_costmap"/>
  1183.     <profile node="turtlebot3_laserscan" ns="/">
  1184.       <services reply="ALLOW">
  1185.         <service>~/describe_parameters</service>
  1186.         <service>~/get_parameter_types</service>
  1187.         <service>~/get_parameters</service>
  1188.         <service>~/list_parameters</service>
  1189.         <service>~/set_parameters</service>
  1190.         <service>~/set_parameters_atomically</service>
  1191.       </services>
  1192.       <services request="ALLOW">
  1193.         <service>~/describe_parameters</service>
  1194.         <service>~/get_parameter_types</service>
  1195.         <service>~/get_parameters</service>
  1196.         <service>~/list_parameters</service>
  1197.         <service>~/set_parameters</service>
  1198.         <service>~/set_parameters_atomically</service>
  1199.       </services>
  1200.       <topics publish="ALLOW">
  1201.         <topic>parameter_events</topic>
  1202.       </topics>
  1203.       <topics subscribe="ALLOW">
  1204.         <topic>parameter_events</topic>
  1205.       </topics>
  1206.     </profile>
  1207.     <profile node="turtlebot3_laserscan" ns="/global_costmap"/>
  1208.     <profile node="turtlebot3_laserscan" ns="/local_costmap"/>
  1209.     <profile node="world_model" ns="/">
  1210.       <services reply="ALLOW">
  1211.         <service>GetCostmap</service>
  1212.         <service>GetRobotPose</service>
  1213.         <service>~/change_state</service>
  1214.         <service>~/describe_parameters</service>
  1215.         <service>~/get_available_states</service>
  1216.         <service>~/get_available_transitions</service>
  1217.         <service>~/get_parameter_types</service>
  1218.         <service>~/get_parameters</service>
  1219.         <service>~/get_state</service>
  1220.         <service>~/get_transition_graph</service>
  1221.         <service>~/list_parameters</service>
  1222.         <service>~/set_parameters</service>
  1223.         <service>~/set_parameters_atomically</service>
  1224.       </services>
  1225.       <services request="ALLOW">
  1226.         <service>GetCostmap</service>
  1227.         <service>GetRobotPose</service>
  1228.         <service>~/change_state</service>
  1229.         <service>~/describe_parameters</service>
  1230.         <service>~/get_available_states</service>
  1231.         <service>~/get_available_transitions</service>
  1232.         <service>~/get_parameter_types</service>
  1233.         <service>~/get_parameters</service>
  1234.         <service>~/get_state</service>
  1235.         <service>~/get_transition_graph</service>
  1236.         <service>~/list_parameters</service>
  1237.         <service>~/set_parameters</service>
  1238.         <service>~/set_parameters_atomically</service>
  1239.       </services>
  1240.       <topics publish="ALLOW">
  1241.         <topic>parameter_events</topic>
  1242.       </topics>
  1243.       <topics subscribe="ALLOW">
  1244.         <topic>parameter_events</topic>
  1245.       </topics>
  1246.     </profile>
  1247.     <profile node="world_model" ns="/global_costmap"/>
  1248.     <profile node="world_model" ns="/local_costmap"/>
  1249.   </profiles>
  1250. </policy>
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