Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04
• Installation type:
  • from source
• Version or commit hash:
  • crystal patch2 for all repos
  • master for sros2 (8165d7f)
• DDS implementation:
  • Fast-RTPS
• Client library (if applicable):
  • rclpy

Steps to reproduce issue

Terminal 1

ros2 run demo_nodes_py talker

Terminal 2

ros2 run demo_nodes_py listener

Terminal 3
After the two nodes exchanged multiple messages (~30 seconds)

ros2 security generate_policy foo.xml

Expected behavior

foo.xml contains policies for the talker and listener nodes, including all default node rules + the chatter topic (publish for talker and subscribe for listener)

Actual behavior

foo.xml doesnt have any rules for the talker

<policy version="0.1.0">
  <profiles>
    <profile node="listener" ns="/">
      <services reply="ALLOW">
        <service>~describe_parameters</service>
        <service>~get_parameter_types</service>
        <service>~get_parameters</service>
        <service>~list_parameters</service>
        <service>~set_parameters</service>
        <service>~set_parameters_atomically</service>
      </services>
      <topics subscribe="ALLOW">
        <topic>chatter</topic>
      </topics>
      <topics publish="ALLOW">
        <topic>parameter_events</topic>
        <topic>rosout</topic>
      </topics>
    </profile>
    <profile node="talker" ns="/"/>
  </profiles>
</policy>

Additional information

ros2 node info provides the expected list of topics / services for the /talker node

# ros2 node info /talker 
/talker
  Subscribers:

  Publishers:
    /chatter: std_msgs/String
    /parameter_events: rcl_interfaces/ParameterEvent
    /rosout: rcl_interfaces/Log
  Services:
    /talker/describe_parameters: rcl_interfaces/DescribeParameters
    /talker/get_parameter_types: rcl_interfaces/GetParameterTypes
    /talker/get_parameters: rcl_interfaces/GetParameters
    /talker/list_parameters: rcl_interfaces/ListParameters
    /talker/set_parameters: rcl_interfaces/SetParameters
    /talker/set_parameters_atomically: rcl_interfaces/SetParametersAtomically

@ruffsl @ross-desmond @jacobperron FYI