EDPClient.patch

diff --git a/src/cpp/rtps/builtin/discovery/endpoint/EDPClient.cpp b/src/cpp/rtps/builtin/discovery/endpoint/EDPClient.cpp
index 5dbba3856..bb08d4a2f 100644
--- a/src/cpp/rtps/builtin/discovery/endpoint/EDPClient.cpp
+++ b/src/cpp/rtps/builtin/discovery/endpoint/EDPClient.cpp
@@ -37,6 +37,26 @@ namespace rtps {
 
 using namespace fastrtps::rtps;
 
+//////////////////////////////// PATCH ////////////////////////////////
+// add the topics name you want allow (specific namespaces can be discarded e.g., /robot_1/cmd_vel, /robot_2/cmd_vel)
+const std::vector<std::string> allowed_remote_topic_list = {
+    "/cmd_vel"
+};
+
+static bool is_allowed(eprosima::fastrtps::string_255& topic)
+{
+    std::string _topic = topic.to_string();
+
+    for(auto  allowed_pattern : allowed_remote_topic_list)
+    {
+      if (_topic.find(allowed_pattern) != std::string::npos) {
+        return true;
+      }
+    }
+    return false;
+}
+///////////////////////////////////////////////////////////////////////
+
 bool EDPClient::processLocalReaderProxyData(
         RTPSReader* local_reader,
         ReaderProxyData* rdata)
@@ -53,6 +73,11 @@ bool EDPClient::processLocalReaderProxyData(
     }
 #endif // if HAVE_SECURITY
 
+//////////////////////////////// PATCH ////////////////////////////////
+    if(!is_allowed(rdata->topicName()))
+      return true;
+///////////////////////////////////////////////////////////////////////
+
     CacheChange_t* change = nullptr;
     bool ret_val = serialize_reader_proxy_data(*rdata, *writer, true, &change);
     if (change != nullptr)
@@ -86,6 +111,11 @@ bool EDPClient::processLocalWriterProxyData(
     }
 #endif // if HAVE_SECURITY
 
+//////////////////////////////// PATCH ////////////////////////////////
+    if(!is_allowed(wdata->topicName()))
+      return true;
+///////////////////////////////////////////////////////////////////////
+  
     CacheChange_t* change = nullptr;
     bool ret_val = serialize_writer_proxy_data(*wdata, *writer, true, &change);
     if (change != nullptr)