zenoh-bridge-ros2dds: How to isolate a device on the same DDS domain

[TanLeVan]

I have a set up consist of 3 devices:

• Computer 1 and Computer 2 connect to each other using LAN cable.
• Computer 3, acting as a server, can establish a connection with Computer 2 via wifi.

The goal is for 1 and 2 to be able to communicate with each other, 2 and 3 to communicate with each other, but 1 and 3 cannot communicate.

Currently, what I am doing is:

• 1 and 2 communicate over Cyclone DDS with configuration that only allow for communication over LAN and loopback interface.
• 2 and 3 communicate via zenoh-bridge-ros2dds. I am allowing all ROS topics to pass through the bridge.
  With this setup, 1 and 3 can communicate to each other via ROS topics.

My question is:

• Is there any possible set up that would allow 2 and 3 and 1 and 2 to see each others' ROS topic, but 1 and 3 cannot.