Update admin enclave for rqt

ros-swg · Mar 2, 2021 · eae58c0 · eae58c0
1 parent d46b623
commit eae58c0
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Showing 2 changed files with 14 additions and 2 deletions.
diff --git a/configs/common.conf b/configs/common.conf
@@ -43,14 +43,14 @@ new-window -n sros
 send-keys 'tree keystore -d' Enter
 
 split-window -h
-send-keys 'ros2 security generate_artifacts -k keystore -p policies/tb3_gazebo_policy.xml -n /_ros2cli'
+send-keys 'ros2 security generate_artifacts -k keystore -p policies/tb3_gazebo_policy.xml -e /admin'
 
 split-window -v
 send-keys 'env | grep ROS' Enter
 
 # create rqt window
 new-window -n rqt
-send-keys 'ROS_SECURITY_NODE_DIRECTORY=$TB3_DEMO_DIR/keystore/_ros2cli rqt'
+send-keys 'ROS_SECURITY_ENCLAVE_OVERRIDE=/admin rqt'
 
 # reselect turtlebot window (the one with teleop)
 select-window -t turtlebot
diff --git a/policies/tb3_gazebo_policy.xml b/policies/tb3_gazebo_policy.xml
@@ -443,5 +443,17 @@
         </profile> -->
       </profiles>
     </enclave>
+    <enclave path="/admin">
+      <profiles>
+        <profile node="admin" ns="/">
+          <services reply="ALLOW" request="ALLOW">
+            <service>*</service>
+          </services>
+          <topics publish="ALLOW" subscribe="ALLOW">
+            <topic>*</topic>
+          </topics>
+        </profile>
+      </profiles>
+    </enclave>
   </enclaves>
 </policy>