Hi @thongtd 
Manually-managed whitelist are tedious and error prone.
To solve problem we recommend you to make join from dashboard, and follow our ROS2 guides made by us.
Regards, Filip
i see this tutorial must running on docker. In my case, i use mavlink protocol so i need use router allowlist and local_host_only to filter all mavlink message just showoff my customize msg. => i have to use docker in all my device ?
We support both docker and non-docker setups.