Limit network access to micro ros agent

[fitocuan]

Hi,

I am very new with ROS2 Fast DDS and I've been using ROS2 humble to communicate multiple PCs through a LAN network (192.168.3.x). Each PC controls two robots via TCP (192.168.2.x), this network has been hidden from the Fast DDS by configuring with the following whitelist in the XML code.

This works as expected. However, when I connect a Raspberry Pi Pico docker agent with microros the topics passed through the PCs are initially slowed down and then recover back to normal after 1-2 minutes.

I suspect the issue is the microros agent is trying communicate with the robot's network, as when I disconnect the robots everything works fine. Is there a way to configure a whitelist inside the microrosagent?

<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>CustomTcpTransport2</transport_id>
                <type>TCPv4</type>
                <interfaceWhiteList>
                    <address>192.168.3.7</address>
                    <address>127.0.0.1</address>
                </interfaceWhiteList>
            </transport_descriptor>
        </transport_descriptors>
        
        <transport_descriptors>
            <transport_descriptor>
                <transport_id>CustomUDPTransport2</transport_id>
                <type>UDPv4</type>
                <interfaceWhiteList>
                    <address>192.168.3.7</address>
                    <address>127.0.0.1</address>
                </interfaceWhiteList>
            </transport_descriptor>
        </transport_descriptors>

        <!-- default publisher profile -->
        <publisher profile_name="default_publisher" is_default_profile="true">
            <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
            <qos>
                <publishMode>
                    <kind>ASYNCHRONOUS</kind>
                </publishMode>  
                
            </qos>
        </publisher>

        <!-- default subscriber profile -->
        <subscriber profile_name="default_subscriber" is_default_profile="true">
            <historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
            
        </subscriber>

        

   
        <participant profile_name="CustomTcpTransportParticipant2" is_default_profile="true">
            <rtps>

                <useBuiltinTransports>false</useBuiltinTransports>
                <userTransports>
                    <transport_id>CustomTcpTransport2</transport_id>
                </userTransports>
                
                
            </rtps>
        </participant>
        
        <participant profile_name="CustomUDPTransportParticipant2" is_default_profile="true">
            <rtps>

                <useBuiltinTransports>false</useBuiltinTransports>
                <userTransports>
                    <transport_id>CustomUDPTransport2</transport_id>
                </userTransports>
                
            </rtps>
        </participant>
        
</profiles>

[pablogs9]

Hello, this issue shall be moved to the Fast DDS repo, in micro-ROS Agent, the middleware is configured via XML files.