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<?xml version="1.0" encoding="utf-8"?>
<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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    <domain_access_rules>
        <domain_rule>
            <domains>
                <id_range>
                    <min>0</min>
                    <max>230</max>
                </id_range>
            </domains>
            <allow_unauthenticated_participants>false</allow_unauthenticated_participants>
            <enable_join_access_control>true</enable_join_access_control>
            <discovery_protection_kind>ENCRYPT</discovery_protection_kind>
            <liveliness_protection_kind>ENCRYPT</liveliness_protection_kind>
            <rtps_protection_kind>ENCRYPT</rtps_protection_kind>
            <topic_access_rules>
                <topic_rule>
                    <topic_expression>HelloWorldTopic_*</topic_expression>
                    <enable_discovery_protection>true</enable_discovery_protection>
                    <enable_liveliness_protection>true</enable_liveliness_protection>
                    <enable_read_access_control>true</enable_read_access_control>
                    <enable_write_access_control>true</enable_write_access_control>
                    <metadata_protection_kind>ENCRYPT</metadata_protection_kind>
                    <data_protection_kind>ENCRYPT</data_protection_kind>
                </topic_rule>
            </topic_access_rules>
        </domain_rule>
    </domain_access_rules>
</dds>


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