# onboard_all DDS Router
extends: "$(find-pkg-share autonomy_bringup)/onboard_all/config/dds_router.yaml"

allowlist:
  # ============= Outgoing Robot --> GCS ================

  - name: "rt/$(env ROBOT_NAME)/sensors/front_stereo/left/image_rect"
  - name: "rt/$(env ROBOT_NAME)/sensors/front_stereo/left/camera_info"
  - name: "rt/$(env ROBOT_NAME)/sensors/front_stereo/right/image_rect"
  - name: "rt/$(env ROBOT_NAME)/sensors/front_stereo/right/camera_info"

  # ============= Incoming GCS --> Robot ================
  # control commands
  
  - name: "rt/$(env ROBOT_NAME)/global_plan"