I am very interested in the proposal of adding access control policy into ROS on the SROS website. In particular, I find the “online arbiter” concept quite interesting and would like to research more on it. I am wondering if the online arbiter has been implemented in the current SROS/SROS2 code base. I looked at the ros_comm repo (sros branch) before but could not find relevant code pieces for the implementation of online arbiter. If not yet, is there any plan to implement an online arbiter in SROS/SROS2?
Please help clarify/share if any guy know more details . Thanks!