asset_uri_whitelist -> asset_uri_allowlist

README.md

@@ -77,7 +77,7 @@ Parameters are provided to configure the behavior of the bridge. These parameter
  * __send_buffer_limit__: Connection send buffer limit in bytes. Messages will be dropped when a connection's send buffer reaches this limit to avoid a queue of outdated messages building up. Defaults to `10000000` (10 MB).
  * __use_compression__: Use websocket compression (permessage-deflate). Suited for connections with smaller bandwith, at the cost of additional CPU load.
  * __capabilities__: List of supported [server capabilities](https://github.com/foxglove/ws-protocol/blob/main/docs/spec.md). Defaults to `[clientPublish,parameters,parametersSubscribe,services,connectionGraph,assets]`.
- * __asset_uri_whitelist__: List of regular expressions ([ECMAScript grammar](https://en.cppreference.com/w/cpp/regex/ecmascript)) of allowed asset URIs. Uses the [resource_retriever](https://index.ros.org/p/resource_retriever/github-ros-resource_retriever) to resolve `package://`, `file://` or `http(s)://` URIs. Note that this list should be carefully configured such that no secret files can be fetched. Defaults to `["package://(\w+/?)+\.(dae|stl|urdf|xacro)"]`.
+ * __asset_uri_allowlist__: List of regular expressions ([ECMAScript grammar](https://en.cppreference.com/w/cpp/regex/ecmascript)) of allowed asset URIs. Uses the [resource_retriever](https://index.ros.org/p/resource_retriever/github-ros-resource_retriever) to resolve `package://`, `file://` or `http(s)://` URIs. Note that this list should be carefully configured such that no secret files can be fetched. Defaults to `["package://(\w+/?)+\.(dae|stl|urdf|xacro)"]`.
  * (ROS 1) __max_update_ms__: The maximum number of milliseconds to wait in between polling `roscore` for new topics, services, or parameters. Defaults to `5000`.
  * (ROS 2) __num_threads__: The number of threads to use for the ROS node executor. This controls the number of subscriptions that can be processed in parallel. 0 means one thread per CPU core. Defaults to `0`.
  * (ROS 2) __min_qos_depth__: Minimum depth used for the QoS profile of subscriptions. Defaults to `1`. This is to set a lower limit for a subscriber's QoS depth which is computed by summing up depths of all publishers. See also [#208](https://github.com/foxglove/ros-foxglove-bridge/issues/208).

ros1_foxglove_bridge/launch/foxglove_bridge.launch

@@ -13,7 +13,7 @@
   <arg name="nodelet_manager"           default="foxglove_nodelet_manager" />
   <arg name="num_threads"               default="0" />
   <arg name="capabilities"              default="[clientPublish,parameters,parametersSubscribe,services,connectionGraph,assets]" />
-  <arg name="asset_uri_whitelist"       default="['package://(/?\w+)+\.(dae|stl|urdf|xacro)']" />
+  <arg name="asset_uri_allowlist"       default="['package://(/?\w+)+\.(dae|stl|urdf|xacro)']" />
 
   <node pkg="nodelet" type="nodelet" name="foxglove_nodelet_manager" args="manager"
         if="$(eval nodelet_manager == 'foxglove_nodelet_manager')">
@@ -35,6 +35,6 @@
     <rosparam param="service_whitelist"       subst_value="True">$(arg service_whitelist)</rosparam>
     <rosparam param="client_topic_whitelist"  subst_value="True">$(arg client_topic_whitelist)</rosparam>
     <rosparam param="capabilities"            subst_value="True">$(arg capabilities)</rosparam>
-    <rosparam param="asset_uri_whitelist"     subst_value="True">$(arg asset_uri_whitelist)</rosparam>
+    <rosparam param="asset_uri_allowlist"     subst_value="True">$(arg asset_uri_allowlist)</rosparam>
   </node>
 </launch>

ros1_foxglove_bridge/src/ros1_foxglove_bridge_nodelet.cpp

@@ -102,7 +102,7 @@ class FoxgloveBridge : public nodelet::Nodelet {
     }
 
     const auto assetUriWhitelist = nhp.param<std::vector<std::string>>(
-      "asset_uri_whitelist", {"package://(/?\\w+)+\\.(dae|stl|urdf|xacro)"});
+      "asset_uri_allowlist", {"package://(/?\\w+)+\\.(dae|stl|urdf|xacro)"});
     _assetUriWhitelistPatterns = parseRegexPatterns(assetUriWhitelist);
     if (assetUriWhitelist.size() != _assetUriWhitelistPatterns.size()) {
       ROS_ERROR("Failed to parse one or more asset URI whitelist patterns");

ros1_foxglove_bridge/tests/smoke.test

@@ -1,7 +1,7 @@
 <launch>
   <node name="foxglove_bridge" pkg="foxglove_bridge" type="foxglove_bridge" output="screen">
     <param name="port" value="9876" />
-    <rosparam param="asset_uri_whitelist" subst_value="True">['file://.*']</rosparam>
+    <rosparam param="asset_uri_allowlist" subst_value="True">['file://.*']</rosparam>
   </node>
 
   <test test-name="smoke_test" pkg="foxglove_bridge" type="smoke_test" />

ros2_foxglove_bridge/include/foxglove_bridge/param_utils.hpp

@@ -23,7 +23,7 @@ constexpr char PARAM_USE_COMPRESSION[] = "use_compression";
 constexpr char PARAM_CAPABILITIES[] = "capabilities";
 constexpr char PARAM_CLIENT_TOPIC_WHITELIST[] = "client_topic_whitelist";
 constexpr char PARAM_INCLUDE_HIDDEN[] = "include_hidden";
-constexpr char PARAM_ASSET_URI_WHITELIST[] = "asset_uri_whitelist";
+constexpr char PARAM_ASSET_URI_ALLOWLIST[] = "asset_uri_allowlist";
 
 constexpr int64_t DEFAULT_PORT = 8765;
 constexpr char DEFAULT_ADDRESS[] = "0.0.0.0";

ros2_foxglove_bridge/launch/foxglove_bridge_launch.xml

@@ -15,7 +15,7 @@
   <arg name="use_sim_time"              default="false" />
   <arg name="capabilities"              default="[clientPublish,parameters,parametersSubscribe,services,connectionGraph,assets]" />
   <arg name="include_hidden"            default="false" />
-  <arg name="asset_uri_whitelist"       default="['package://(\\w+/?)+\\.(dae|stl|urdf|xacro)']" />  <!-- Needs double-escape -->
+  <arg name="asset_uri_allowlist"       default="['package://(\\w+/?)+\\.(dae|stl|urdf|xacro)']" />  <!-- Needs double-escape -->
 
   <node pkg="foxglove_bridge" exec="foxglove_bridge">
     <param name="port"                    value="$(var port)" />
@@ -34,6 +34,6 @@
     <param name="use_sim_time"            value="$(var use_sim_time)" />
     <param name="capabilities"            value="$(var capabilities)" />
     <param name="include_hidden"          value="$(var include_hidden)" />
-    <param name="asset_uri_whitelist"     value="$(var asset_uri_whitelist)" />
+    <param name="asset_uri_allowlist"     value="$(var asset_uri_allowlist)" />
   </node>
 </launch>

ros2_foxglove_bridge/src/param_utils.cpp

@@ -148,12 +148,12 @@ void declareParameters(rclcpp::Node* node) {
   node->declare_parameter(PARAM_INCLUDE_HIDDEN, false, includeHiddenDescription);
 
   auto assetUriWhiteListDescription = rcl_interfaces::msg::ParameterDescriptor{};
-  assetUriWhiteListDescription.name = PARAM_ASSET_URI_WHITELIST;
+  assetUriWhiteListDescription.name = PARAM_ASSET_URI_ALLOWLIST;
   assetUriWhiteListDescription.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY;
   assetUriWhiteListDescription.description =
     "List of regular expressions (ECMAScript) of whitelisted asset URIs.";
   assetUriWhiteListDescription.read_only = true;
-  node->declare_parameter(PARAM_ASSET_URI_WHITELIST,
+  node->declare_parameter(PARAM_ASSET_URI_ALLOWLIST,
                           std::vector<std::string>({"package://(/?\\w+)+\\.(dae|stl|urdf|xacro)"}),
                           paramWhiteListDescription);
 }

ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp

@@ -47,7 +47,7 @@ FoxgloveBridge::FoxgloveBridge(const rclcpp::NodeOptions& options)
     this->get_parameter(PARAM_CLIENT_TOPIC_WHITELIST).as_string_array();
   const auto clientTopicWhiteListPatterns = parseRegexStrings(this, clientTopicWhiteList);
   _includeHidden = this->get_parameter(PARAM_INCLUDE_HIDDEN).as_bool();
-  const auto assetUriWhitelist = this->get_parameter(PARAM_ASSET_URI_WHITELIST).as_string_array();
+  const auto assetUriWhitelist = this->get_parameter(PARAM_ASSET_URI_ALLOWLIST).as_string_array();
   _assetUriWhitelistPatterns = parseRegexStrings(this, assetUriWhitelist);
 
   const auto logHandler = std::bind(&FoxgloveBridge::logHandler, this, _1, _2);

ros2_foxglove_bridge/tests/smoke_test.cpp

@@ -606,7 +606,7 @@ int main(int argc, char** argv) {
   auto componentFactory = componentManager.create_component_factory(componentResources.front());
   rclcpp::NodeOptions nodeOptions;
   // Explicitly allow file:// asset URIs for testing purposes.
-  nodeOptions.append_parameter_override("asset_uri_whitelist",
+  nodeOptions.append_parameter_override("asset_uri_allowlist",
                                         std::vector<std::string>({"file://.*"}));
   auto node = componentFactory->create_node_instance(nodeOptions);
   executor->add_node(node.get_node_base_interface());