// CONFIG FOR: zenoh-bridge-ros2dds (standalone) ON THE ROBOT
// DO NOT use this file with zenohd. zenohd does not load the ros2dds plugin and will
// panic on unknown keys (e.g. "allow"). On the Mac, run zenohd with zenohd-agenticros.json5 only.
//
// On the robot, run: zenoh-bridge-ros2dds -c /path/to/zenoh-bridge-ros2dds-robot.json5
// Edit connect.endpoints: use your Mac's actual IP (e.g. 192.168.0.241). Must match the
// subnet the robot can reach (robot 192.168.0.x → use Mac 192.168.0.x; wrong subnet = connection timeout).
// Subscriber patterns must match the Zenoh key AgenticROS publishes (topic without leading slash).
// If you use robot.namespace = "robot3946b404-c33e-4aa3-9a8d-16deb1c5c593", key is "robot3946b404-c33e-4aa3-9a8d-16deb1c5c593/cmd_vel" (ROS2 topic /robot3946.../cmd_vel).
// If you use robot.namespace = "3946b404-c33e-4aa3-9a8d-16deb1c5c593", key is "3946b404-c33e-4aa3-9a8d-16deb1c5c593/cmd_vel".
// If you use robot.namespace = "", key is "cmd_vel" (ROS2 /cmd_vel).

{
  "mode": "client",
  "connect": {
    "endpoints": ["tcp/192.168.0.241:7447"]
  },
  "plugins": {
    "ros2dds": {
      "allow": {
        "publishers": [".+"],
        "subscribers": [".+/cmd_vel", "cmd_vel", "3946b404-c33e-4aa3-9a8d-16deb1c5c593/cmd_vel", "robot3946b404-c33e-4aa3-9a8d-16deb1c5c593/cmd_vel"],
        "service_servers": [],
        "service_clients": [],
        "action_servers": [],
        "action_clients": []
      }
    }
  }
}