<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<policy version="0.2.0">
    <enclaves>
        <enclave path="/waffle_topology_generate_topology">
            <profiles>
                <profile ns="/" node="waffle_topology_generate_topology">
                    <topics publish="ALLOW">
                        <topic>/topology/nodes</topic>
                        <topic>/topology/intersections</topic>
                        <topic>/rosout</topic>
                        <topic>/topology/edges</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/topology/area</topic>
                        <topic>/odom</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/waffle_topology_generate_topology/list_parameters</service>
                        <service>/waffle_topology_generate_topology/get_parameter_types</service>
                        <service>/waffle_topology_generate_topology/describe_parameters</service>
                        <service>/waffle_topology_generate_topology/get_type_description</service>
                        <service>/waffle_topology_generate_topology/set_parameters_atomically</service>
                        <service>/waffle_topology_generate_topology/get_parameters</service>
                        <service>/waffle_topology_generate_topology/set_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>
