Hi,

I'm using ROS2 Bouncy.

I would like to set some access permissions for my topics and services. e.g. only node A can publish on this topic; only node B can make requests to this service.

I tried SROS2, which allows to set permissions policies, however i don't know if that's the best solution, since I'm not interested in all the other security mechanisms provided by that tool.

Is it possible to disable encryption and use only the permissions feature of SROS2 ?

Are there any alternatives for setting access permissions ?

EDIT: I found this question about the same issue for ROS1 and some resources mentioning the use of ROSDOMAINID to isolate ros graphs. However I don't think these are valid solutions either for my use case.

Assume that node A publishes to a topic and provides a service to set some internal variables. Node B could be not allowed to access the service, but should be still allowed to subscribe to that topic.

Thanks