Parse policy.xml and generate access control zenoh config

[ahcorde]

Generate zenoh config file using policy.xml

1 ) Launch zenohd

ros2 run rmw_zenoh_cpp rmw_zenohd

2 ) Launch the listener

export RMW_IMPLEMENTATION=rmw_zenoh_cpp
ros2 run demo_nodes_cpp listener

3 ) Launch the talker

export RMW_IMPLEMENTATION=rmw_zenoh_cpp
ros2 run demo_nodes_cpp talker

Now run the policy generator

ros2 security generate_policy policy_listener_talker.xml

Finally run the script:

zenoh_security_configuration_2.py --policy policy_service.xml --config <path to default session config>/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

Try access control

1. Run the talker with the new config file

export ZENOH_SESSION_CONFIG_URI=talker.json5
ros2 run demo_nodes_cpp talker
[INFO] [1740601932.350808475] [talker]: Publishing: 'Hello World: 1'
[INFO] [1740601933.350487483] [talker]: Publishing: 'Hello World: 2'

2. Run the listener with the new config file

export ZENOH_SESSION_CONFIG_URI=listener.json5
ros2 run demo_nodes_cpp listener
...
[INFO] [1740602312.492840958] [listener]: I heard: [Hello World: 1]
[INFO] [1740602313.492200366] [listener]: I heard: [Hello World: 2]

You can check that everything is fine remapping the topic name (this should not work):

ros2 run demo_nodes_cpp talker --ros-args -r chatter:=new_topic

ros2 run demo_nodes_cpp listener --ros-args -r chatter:=new_topic
...
# listener should not receive anything