From a60a1e182965cc9f4135edf9c44c07ee70127f64 Mon Sep 17 00:00:00 2001
From: Gijs de Jong <berichtaangijs@gmail.com>
Date: Fri, 10 Apr 2026 09:49:40 +0200
Subject: [PATCH 1/2] Use patched RustDDS

---
 Cargo.lock                  |  5 ++---
 Cargo.toml                  |  2 +-
 booster_sdk/src/dds/node.rs | 18 ++++++++++++++++--
 booster_sdk/src/dds/rpc.rs  |  3 +++
 4 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 6b3b8cd..ead6b98 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1101,9 +1101,8 @@ checksum = "7a2d987857b319362043e95f5353c0535c1f58eec5336fdfcf626430af7def58"
 
 [[package]]
 name = "rustdds"
-version = "0.11.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54aa8af0cee7a6cad5a1fb81ae338ee5ffe5e41d26fc02d8798ce4a071fa4ac6"
+version = "0.11.9"
+source = "git+https://github.com/oxkitsune/RustDDS.git?branch=gijs%2Flocalhost-only#bc1742a38f3fb8a331376978a60d35cad1d8b915"
 dependencies = [
  "bit-vec",
  "byteorder",
diff --git a/Cargo.toml b/Cargo.toml
index d1a0dc9..f0ff360 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -26,7 +26,7 @@ booster_sdk = { path = "booster_sdk" }
 
 tokio = { version = "1.42", features = ["full"] }
 futures = "0.3"
-rustdds = "0.11.8"
+rustdds = { git = "https://github.com/oxkitsune/RustDDS.git", branch = "gijs/localhost-only"}
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
 thiserror = "1.0"
diff --git a/booster_sdk/src/dds/node.rs b/booster_sdk/src/dds/node.rs
index eff1a58..30748f4 100644
--- a/booster_sdk/src/dds/node.rs
+++ b/booster_sdk/src/dds/node.rs
@@ -3,7 +3,7 @@
 use serde::{Serialize, de::DeserializeOwned};
 use tokio::sync::mpsc;
 
-use rustdds::{DomainParticipant, Publisher, QosPolicyBuilder, Subscriber};
+use rustdds::{DomainParticipant, DomainParticipantBuilder, Publisher, QosPolicyBuilder, Subscriber};
 
 use crate::types::{DdsError, Result};
 
@@ -12,6 +12,9 @@ use super::topics::TopicSpec;
 #[derive(Default, Debug, Clone)]
 pub struct DdsConfig {
     pub domain_id: u16,
+    /// If set, restricts DDS discovery and traffic to the named network interfaces only
+    /// (e.g. `vec!["eth0".into()]`). When `None`, all multicast-capable interfaces are used.
+    pub only_networks: Option<Vec<String>>,
 }
 
 #[derive(Clone)]
@@ -23,7 +26,18 @@ pub struct DdsNode {
 
 impl DdsNode {
     pub fn new(config: DdsConfig) -> Result<Self> {
-        let participant = DomainParticipant::new(config.domain_id)
+        let loopback = if cfg!(target_os = "macos") {
+            "lo0"
+        } else {
+            "lo"
+        };
+        let mut builder =
+            DomainParticipantBuilder::new(config.domain_id).with_only_networks(vec![loopback.into()]);
+        if let Some(networks) = config.only_networks {
+            builder = builder.with_only_networks(networks);
+        }
+        let participant = builder
+            .build()
             .map_err(|err| DdsError::InitializationFailed(err.to_string()))?;
         let qos = QosPolicyBuilder::new().build();
         let publisher = participant
diff --git a/booster_sdk/src/dds/rpc.rs b/booster_sdk/src/dds/rpc.rs
index e213cd4..ae0cc73 100644
--- a/booster_sdk/src/dds/rpc.rs
+++ b/booster_sdk/src/dds/rpc.rs
@@ -21,6 +21,7 @@ pub struct RpcClientOptions {
     pub default_timeout: Duration,
     pub startup_wait: Duration,
     pub service_topic: String,
+    pub only_networks: Option<Vec<String>>,
 }
 
 impl Default for RpcClientOptions {
@@ -33,6 +34,7 @@ impl Default for RpcClientOptions {
             // Wait once before the first RPC call so endpoint discovery can settle.
             startup_wait: Duration::from_millis(3000),
             service_topic: LOCO_API_TOPIC.to_owned(),
+            only_networks: None,
         }
     }
 }
@@ -146,6 +148,7 @@ impl RpcClient {
     pub fn new(options: RpcClientOptions) -> Result<Self> {
         let node = DdsNode::new(super::DdsConfig {
             domain_id: options.domain_id,
+            only_networks: options.only_networks.clone(),
         })?;
 
         let service_topic = normalize_service_topic(&options.service_topic);

From c3d8e2f6cd69cd6089c4c8d1f871faf0cf8e402a Mon Sep 17 00:00:00 2001
From: Gijs de Jong <berichtaangijs@gmail.com>
Date: Tue, 14 Apr 2026 16:39:47 +0200
Subject: [PATCH 2/2] Update RustDDS to limit to ip address

---
 Cargo.lock                  | 572 ++++++++++++++++++++++--------------
 booster_sdk/src/dds/node.rs |  20 +-
 2 files changed, 364 insertions(+), 228 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index ead6b98..64e0ca5 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -20,6 +20,12 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "anyhow"
+version = "1.0.102"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c"
+
 [[package]]
 name = "autocfg"
 version = "1.5.0"
@@ -40,9 +46,9 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bitflags"
-version = "2.10.0"
+version = "2.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "812e12b5285cc515a9c72a5c1d3b6d46a19dac5acfef5265968c166106e31dd3"
+checksum = "c4512299f36f043ab09a583e57bceb5a5aab7a73db1805848e8fef3c9e8c78b3"
 
 [[package]]
 name = "booster_sdk"
@@ -73,9 +79,9 @@ dependencies = [
 
 [[package]]
 name = "bumpalo"
-version = "3.19.1"
+version = "3.20.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5dd9dc738b7a8311c7ade152424974d8115f2cdad61e8dab8dac9f2362298510"
+checksum = "5d20789868f4b01b2f2caec9f5c4e0213b41e3e5702a50157d699ae31ced2fcb"
 
 [[package]]
 name = "byteorder"
@@ -85,15 +91,15 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
-version = "1.11.0"
+version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b35204fbdc0b3f4446b89fc1ac2cf84a8a68971995d0bf2e925ec7cd960f9cb3"
+checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
 
 [[package]]
 name = "cc"
-version = "1.2.53"
+version = "1.2.60"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "755d2fce177175ffca841e9a06afdb2c4ab0f593d53b4dee48147dfaade85932"
+checksum = "43c5703da9466b66a946814e1adf53ea2c90f10063b86290cc9eb67ce3478a20"
 dependencies = [
  "find-msvc-tools",
  "shlex",
@@ -148,9 +154,9 @@ checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
 
 [[package]]
 name = "chrono"
-version = "0.4.43"
+version = "0.4.44"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fac4744fb15ae8337dc853fee7fb3f4e48c0fbaa23d0afe49c447b4fab126118"
+checksum = "c673075a2e0e5f4a1dde27ce9dee1ea4558c7ffe648f576438a20ca1d2acc4b0"
 dependencies = [
  "iana-time-zone",
  "js-sys",
@@ -187,7 +193,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "strsim",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -198,7 +204,7 @@ checksum = "fc34b93ccb385b40dc71c6fceac4b2ad23662c7eeb248cf10d529b7e055b6ead"
 dependencies = [
  "darling_core",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -219,7 +225,7 @@ dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -229,7 +235,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ab63b0e2bf4d5928aff72e83a7dace85d7bba5fe12dcc3c5a572d78caffd3f3c"
 dependencies = [
  "derive_builder_core",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -256,9 +262,15 @@ checksum = "67c78a4d8fdf9953a5c9d458f9efe940fd97a0cab0941c075a813ac594733827"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
+[[package]]
+name = "equivalent"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f"
+
 [[package]]
 name = "errno"
 version = "0.3.14"
@@ -271,9 +283,9 @@ dependencies = [
 
 [[package]]
 name = "find-msvc-tools"
-version = "0.1.8"
+version = "0.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8591b0bcc8a98a64310a2fae1bb3e9b8564dd10e381e6e28010fde8e8e8568db"
+checksum = "5baebc0774151f905a1a2cc41989300b1e6fbb29aff0ceffa1064fdd3088d582"
 
 [[package]]
 name = "fnv"
@@ -281,6 +293,12 @@ version = "1.0.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
+[[package]]
+name = "foldhash"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d9c4f5dac5e15c24eb999c26181a6ca40b39fe946cbe4c263c7209467bc83af2"
+
 [[package]]
 name = "fuchsia-zircon"
 version = "0.3.3"
@@ -299,9 +317,9 @@ checksum = "3dcaa9ae7725d12cdb85b3ad99a434db70b468c09ded17e012d86b5c1010f7a7"
 
 [[package]]
 name = "futures"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "65bc07b1a8bc7c85c5f2e110c476c7389b4554ba72af57d8445ea63a576b0876"
+checksum = "8b147ee9d1f6d097cef9ce628cd2ee62288d963e16fb287bd9286455b241382d"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -314,9 +332,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2dff15bf788c671c1934e366d07e30c1814a8ef514e1af724a602e8a2fbe1b10"
+checksum = "07bbe89c50d7a535e539b8c17bc0b49bdb77747034daa8087407d655f3f7cc1d"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -324,15 +342,15 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e"
+checksum = "7e3450815272ef58cec6d564423f6e755e25379b217b0bc688e295ba24df6b1d"
 
 [[package]]
 name = "futures-executor"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e28d1d997f585e54aebc3f97d39e72338912123a67330d723fdbb564d646c9f"
+checksum = "baf29c38818342a3b26b5b923639e7b1f4a61fc5e76102d4b1981c6dc7a7579d"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -341,38 +359,38 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e5c1b78ca4aae1ac06c48a526a655760685149f0d465d21f37abfe57ce075c6"
+checksum = "cecba35d7ad927e23624b22ad55235f2239cfa44fd10428eecbeba6d6a717718"
 
 [[package]]
 name = "futures-macro"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650"
+checksum = "e835b70203e41293343137df5c0664546da5745f82ec9b84d40be8336958447b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "futures-sink"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e575fab7d1e0dcb8d0c7bcf9a63ee213816ab51902e6d244a95819acacf1d4f7"
+checksum = "c39754e157331b013978ec91992bde1ac089843443c49cbc7f46150b0fad0893"
 
 [[package]]
 name = "futures-task"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"
+checksum = "037711b3d59c33004d3856fbdc83b99d4ff37a24768fa1be9ce3538a1cde4393"
 
 [[package]]
 name = "futures-util"
-version = "0.3.31"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
+checksum = "389ca41296e6190b48053de0321d02a77f32f8a5d2461dd38762c0593805c6d6"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -382,7 +400,6 @@ dependencies = [
  "futures-task",
  "memchr",
  "pin-project-lite",
- "pin-utils",
  "slab",
 ]
 
@@ -394,8 +411,21 @@ checksum = "899def5c37c4fd7b2664648c28120ecec138e4d395b459e5ca34f9cce2dd77fd"
 dependencies = [
  "cfg-if 1.0.4",
  "libc",
- "r-efi",
+ "r-efi 5.3.0",
+ "wasip2",
+]
+
+[[package]]
+name = "getrandom"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0de51e6874e94e7bf76d726fc5d13ba782deca734ff60d5bb2fb2607c7406555"
+dependencies = [
+ "cfg-if 1.0.4",
+ "libc",
+ "r-efi 6.0.0",
  "wasip2",
+ "wasip3",
 ]
 
 [[package]]
@@ -407,7 +437,7 @@ dependencies = [
  "proc-macro-error2",
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -416,6 +446,21 @@ version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0cc23270f6e1808e30a928bdc84dea0b9b4136a8bc82338574f23baf47bbd280"
 
+[[package]]
+name = "hashbrown"
+version = "0.15.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9229cfe53dfd69f0609a49f65461bd93001ea1ef889cd5529dd176593f5338a1"
+dependencies = [
+ "foldhash",
+]
+
+[[package]]
+name = "hashbrown"
+version = "0.17.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4f467dd6dccf739c208452f8014c75c18bb8301b050ad1cfb27153803edb0f51"
+
 [[package]]
 name = "heck"
 version = "0.5.0"
@@ -424,9 +469,9 @@ checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea"
 
 [[package]]
 name = "iana-time-zone"
-version = "0.1.64"
+version = "0.1.65"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "33e57f83510bb73707521ebaffa789ec8caf86f9657cad665b092b581d40e9fb"
+checksum = "e31bc9ad994ba00e440a8aa5c9ef0ec67d5cb5e5cb0cc7f8b744a35b389cc470"
 dependencies = [
  "android_system_properties",
  "core-foundation-sys",
@@ -446,6 +491,12 @@ dependencies = [
  "cc",
 ]
 
+[[package]]
+name = "id-arena"
+version = "2.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d3067d79b975e8844ca9eb072e16b31c3c1c36928edf9c6789548c524d0d954"
+
 [[package]]
 name = "ident_case"
 version = "1.0.1"
@@ -462,6 +513,18 @@ dependencies = [
  "windows-sys 0.59.0",
 ]
 
+[[package]]
+name = "indexmap"
+version = "2.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d466e9454f08e4a911e14806c24e16fba1b4c121d1ea474396f396069cf949d9"
+dependencies = [
+ "equivalent",
+ "hashbrown 0.17.0",
+ "serde",
+ "serde_core",
+]
+
 [[package]]
 name = "indoc"
 version = "2.0.7"
@@ -507,15 +570,15 @@ dependencies = [
 
 [[package]]
 name = "itoa"
-version = "1.0.17"
+version = "1.0.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92ecc6618181def0457392ccd0ee51198e065e016d1d527a7ac1b6dc7c1f09d2"
+checksum = "8f42a60cbdf9a97f5d2305f08a87dc4e09308d1276d28c869c684d7777685682"
 
 [[package]]
 name = "js-sys"
-version = "0.3.85"
+version = "0.3.95"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8c942ebf8e95485ca0d52d97da7c5a2c387d0e7f0ba4c35e93bfcaee045955b3"
+checksum = "2964e92d1d9dc3364cae4d718d93f227e3abb088e747d92e0395bfdedf1c12ca"
 dependencies = [
  "once_cell",
  "wasm-bindgen",
@@ -543,23 +606,29 @@ version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55"
 
+[[package]]
+name = "leb128fmt"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "09edd9e8b54e49e587e4f6295a7d29c3ea94d469cb40ab8ca70b288248a81db2"
+
 [[package]]
 name = "libc"
-version = "0.2.180"
+version = "0.2.185"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bcc35a38544a891a5f7c865aca548a982ccb3b8650a5b06d0fd33a10283c56fc"
+checksum = "52ff2c0fe9bc6cb6b14a0592c2ff4fa9ceb83eea9db979b0487cd054946a2b8f"
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.11.0"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "df1d3c3b53da64cf5760482273a98e575c651a67eec7f77df96b5b642de8f039"
+checksum = "32a66949e030da00e8c7d4434b251670a91556f4144941d37452769c25d58a53"
 
 [[package]]
 name = "local-ip-address"
-version = "0.6.9"
+version = "0.6.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92488bc8a0f99ee9f23577bdd06526d49657df8bd70504c61f812337cdad01ab"
+checksum = "d4a59a0cb1c7f84471ad5cd38d768c2a29390d17f1ff2827cdf49bc53e8ac70b"
 dependencies = [
  "libc",
  "neli",
@@ -618,9 +687,9 @@ checksum = "ae960838283323069879657ca3de837e9f7bbb4c7bf6ea7f1b290d5e9476d2e0"
 
 [[package]]
 name = "memchr"
-version = "2.7.6"
+version = "2.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f52b00d39961fc5b2736ea853c9cc86238e165017a493d1d5c8eac6bdc4cc273"
+checksum = "f8ca58f447f06ed17d5fc4043ce1b10dd205e060fb3ce5b979b8ed8e59ff3f79"
 
 [[package]]
 name = "memoffset"
@@ -664,9 +733,9 @@ dependencies = [
 
 [[package]]
 name = "mio"
-version = "1.1.1"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a69bcab0ad47271a0234d9422b131806bf3968021e5dc9328caf2d4cd58557fc"
+checksum = "50b7e5b27aa02a74bac8c3f23f448f8d87ff11f92d3aac1a6ed369ee08cc56c1"
 dependencies = [
  "libc",
  "wasi",
@@ -699,11 +768,11 @@ dependencies = [
 
 [[package]]
 name = "neli"
-version = "0.7.3"
+version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e23bebbf3e157c402c4d5ee113233e5e0610cc27453b2f07eefce649c7365dcc"
+checksum = "22f9786d56d972959e1408b6a93be6af13b9c1392036c5c1fafa08a1b0c6ee87"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.1",
  "byteorder",
  "derive_builder",
  "getset",
@@ -723,7 +792,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "serde",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -760,7 +829,7 @@ checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -774,9 +843,9 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.21.3"
+version = "1.21.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d"
+checksum = "9f7c3e4beb33f85d45ae3e3a1792185706c8e16d043238c593331cc7cd313b50"
 
 [[package]]
 name = "parking_lot"
@@ -809,15 +878,9 @@ checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.16"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3b3cff922bd51709b605d9ead9aa71031d81447142d828eb4a6eba76fe619f9b"
-
-[[package]]
-name = "pin-utils"
-version = "0.1.0"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
+checksum = "a89322df9ebe1c1578d689c92318e070967d1042b512afbe49518723f4e6d5cd"
 
 [[package]]
 name = "pnet"
@@ -864,7 +927,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "regex",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -912,9 +975,9 @@ dependencies = [
 
 [[package]]
 name = "portable-atomic"
-version = "1.13.0"
+version = "1.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f89776e4d69bb58bc6993e99ffa1d11f228b839984854c7daeb5d37f87cbe950"
+checksum = "c33a9471896f1c69cecef8d20cbe2f7accd12527ce60845ff44c153bb2a21b49"
 
 [[package]]
 name = "ppv-lite86"
@@ -925,6 +988,16 @@ dependencies = [
  "zerocopy",
 ]
 
+[[package]]
+name = "prettyplease"
+version = "0.2.37"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "479ca8adacdd7ce8f1fb39ce9ecccbfe93a3f1344b3d0d97f20bc0196208f62b"
+dependencies = [
+ "proc-macro2",
+ "syn 2.0.117",
+]
+
 [[package]]
 name = "proc-macro-error-attr2"
 version = "2.0.0"
@@ -944,14 +1017,14 @@ dependencies = [
  "proc-macro-error-attr2",
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.105"
+version = "1.0.106"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "535d180e0ecab6268a3e718bb9fd44db66bbbc256257165fc699dadf70d16fe7"
+checksum = "8fd00f0bb2e90d81d1044c2b32617f68fcb9fa3bb7640c23e9c748e53fb30934"
 dependencies = [
  "unicode-ident",
 ]
@@ -1001,7 +1074,7 @@ dependencies = [
  "proc-macro2",
  "pyo3-macros-backend",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1014,14 +1087,14 @@ dependencies = [
  "proc-macro2",
  "pyo3-build-config",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.43"
+version = "1.0.45"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dc74d9a594b72ae6656596548f56f667211f8a97b3d4c3d467150794690dc40a"
+checksum = "41f2619966050689382d2b44f664f4bc593e129785a36d6ee376ddf37259b924"
 dependencies = [
  "proc-macro2",
 ]
@@ -1032,11 +1105,17 @@ version = "5.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "69cdb34c158ceb288df11e18b4bd39de994f6657d83847bdffdbd7f346754b0f"
 
+[[package]]
+name = "r-efi"
+version = "6.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f8dcc9c7d52a811697d2151c701e0d08956f92b0e24136cf4cf27b57a6a0d9bf"
+
 [[package]]
 name = "rand"
-version = "0.9.2"
+version = "0.9.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6db2770f06117d490610c7488547d543617b21bfa07796d7a12f6f1bd53850d1"
+checksum = "44c5af06bb1b7d3216d91932aed5265164bf384dc89cd6ba05cf59a35f5f76ea"
 dependencies = [
  "rand_chacha",
  "rand_core",
@@ -1058,7 +1137,7 @@ version = "0.9.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "76afc826de14238e6e8c374ddcc1fa19e374fd8dd986b0d2af0d02377261d83c"
 dependencies = [
- "getrandom",
+ "getrandom 0.3.4",
 ]
 
 [[package]]
@@ -1067,14 +1146,14 @@ version = "0.5.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ed2bf2547551a7053d6fdfafda3f938979645c44812fbfcda098faae3f1a362d"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.1",
 ]
 
 [[package]]
 name = "regex"
-version = "1.12.2"
+version = "1.12.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "843bc0191f75f3e22651ae5f1e72939ab2f72a4bc30fa80a066bd66edefc24d4"
+checksum = "e10754a14b9137dd7b1e3e5b0493cc9171fdd105e0ab477f51b72e7f3ac0e276"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -1084,9 +1163,9 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.4.13"
+version = "0.4.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5276caf25ac86c8d810222b3dbb938e512c55c6831a10f3e6ed1c93b84041f1c"
+checksum = "6e1dd4122fc1595e8162618945476892eefca7b88c52820e74af6262213cae8f"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -1095,14 +1174,14 @@ dependencies = [
 
 [[package]]
 name = "regex-syntax"
-version = "0.8.8"
+version = "0.8.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a2d987857b319362043e95f5353c0535c1f58eec5336fdfcf626430af7def58"
+checksum = "dc897dd8d9e8bd1ed8cdad82b5966c3e0ecae09fb1907d58efaa013543185d0a"
 
 [[package]]
 name = "rustdds"
 version = "0.11.9"
-source = "git+https://github.com/oxkitsune/RustDDS.git?branch=gijs%2Flocalhost-only#bc1742a38f3fb8a331376978a60d35cad1d8b915"
+source = "git+https://github.com/oxkitsune/RustDDS.git?branch=gijs%2Flocalhost-only#55348faf7220d14985e225d4aab6554209f041c9"
 dependencies = [
  "bit-vec",
  "byteorder",
@@ -1137,11 +1216,11 @@ dependencies = [
 
 [[package]]
 name = "rustix"
-version = "1.1.3"
+version = "1.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "146c9e247ccc180c1f61615433868c99f3de3ae256a30a43b49f67c2d9171f34"
+checksum = "b6fe4565b9518b83ef4f91bb47ce29620ca828bd32cb7e408f0062e9930ba190"
 dependencies = [
- "bitflags 2.10.0",
+ "bitflags 2.11.1",
  "errno",
  "libc",
  "linux-raw-sys",
@@ -1160,6 +1239,12 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
 
+[[package]]
+name = "semver"
+version = "1.0.28"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8a7852d02fc848982e0c167ef163aaff9cd91dc640ba85e263cb1ce46fae51cd"
+
 [[package]]
 name = "serde"
 version = "1.0.228"
@@ -1187,7 +1272,7 @@ checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1211,7 +1296,7 @@ checksum = "175ee3e80ae9982737ca543e96133087cbd9a485eecc3bc4de9c1a37b47ea59c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1241,9 +1326,9 @@ dependencies = [
 
 [[package]]
 name = "slab"
-version = "0.4.11"
+version = "0.4.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a2ae44ef20feb57a68b23d846850f861394c2e02dc425a50098ae8c90267589"
+checksum = "0c790de23124f9ab44544d7ac05d60440adc586479ce501c1d6d7da3cd8c9cf5"
 
 [[package]]
 name = "smallvec"
@@ -1253,12 +1338,12 @@ checksum = "67b1b7a3b5fe4f1376887184045fcf45c69e92af734b7aaddc05fb777b6fbd03"
 
 [[package]]
 name = "socket2"
-version = "0.6.1"
+version = "0.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "17129e116933cf371d018bb80ae557e889637989d8638274fb25622827b03881"
+checksum = "3a766e1110788c36f4fa1c2b71b387a7815aa65f88ce0229841826633d93723e"
 dependencies = [
  "libc",
- "windows-sys 0.60.2",
+ "windows-sys 0.61.2",
 ]
 
 [[package]]
@@ -1292,7 +1377,7 @@ checksum = "658f2ca5276b92c3dfd65fa88316b4e032ace68f88d7570b43967784c0bac5ac"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1320,9 +1405,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.114"
+version = "2.0.117"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d4d107df263a3013ef9b1879b0df87d706ff80f65a86ea879bd9c31f9b307c2a"
+checksum = "e665b8803e7b1d2a727f4023456bbbbe74da67099c585258af0ad9c5013b9b99"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1331,9 +1416,9 @@ dependencies = [
 
 [[package]]
 name = "target-lexicon"
-version = "0.13.4"
+version = "0.13.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1dd07eb858a2067e2f3c7155d54e929265c264e6f37efe3ee7a8d1b5a1dd0ba"
+checksum = "adb6935a6f5c20170eeceb1a3835a49e12e19d792f6dd344ccc76a985ca5a6ca"
 
 [[package]]
 name = "thiserror"
@@ -1361,7 +1446,7 @@ checksum = "4fee6c4efc90059e10f81e6d42c60a18f76588c3d74cb83a0b242a2b6c7504c1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1372,7 +1457,7 @@ checksum = "ebc4ee7f67670e9b64d05fa4253e753e016c6c95ff35b89b7941d6b856dec1d5"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1386,13 +1471,13 @@ dependencies = [
 
 [[package]]
 name = "tokio"
-version = "1.49.0"
+version = "1.51.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "72a2903cd7736441aac9df9d7688bd0ce48edccaadf181c3b90be801e81d3d86"
+checksum = "f66bf9585cda4b724d3e78ab34b73fb2bbaba9011b9bfdf69dc836382ea13b8c"
 dependencies = [
  "bytes",
  "libc",
- "mio 1.1.1",
+ "mio 1.2.0",
  "parking_lot",
  "pin-project-lite",
  "signal-hook-registry",
@@ -1403,13 +1488,13 @@ dependencies = [
 
 [[package]]
 name = "tokio-macros"
-version = "2.6.0"
+version = "2.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af407857209536a95c8e56f8231ef2c2e2aff839b22e07a1ffcbc617e9db9fa5"
+checksum = "385a6cb71ab9ab790c5fe8d67f1645e6c450a7ce006a33de03daa956cf70a496"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1431,7 +1516,7 @@ checksum = "7490cfa5ec963746568740651ac6781f701c9c5ea257c58e057f3ba8cf69e8da"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1457,9 +1542,9 @@ dependencies = [
 
 [[package]]
 name = "tracing-subscriber"
-version = "0.3.22"
+version = "0.3.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2f30143827ddab0d256fd843b7a66d164e9f271cfa0dde49142c5ca0ca291f1e"
+checksum = "cb7f578e5945fb242538965c2d0b04418d38ec25c79d160cd279bf0731c8d319"
 dependencies = [
  "matchers",
  "nu-ansi-term",
@@ -1490,14 +1575,20 @@ checksum = "076a02dc54dd46795c2e9c8282ed40bcfb1e22747e955de9389a1de28190fb26"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.22"
+version = "1.0.24"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
+
+[[package]]
+name = "unicode-xid"
+version = "0.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9312f7c4f6ff9069b165498234ce8be658059c6728633667c526e27dc2cf1df5"
+checksum = "ebc1c04c71510c7f702b52b7c350734c9ff1295c464a03335b00bb84fc54f853"
 
 [[package]]
 name = "unindent"
@@ -1507,11 +1598,11 @@ checksum = "7264e107f553ccae879d21fbea1d6724ac785e8c3bfc762137959b5802826ef3"
 
 [[package]]
 name = "uuid"
-version = "1.19.0"
+version = "1.23.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2e054861b4bd027cd373e18e8d8d8e6548085000e41290d95ce0c373a654b4a"
+checksum = "5ac8b6f42ead25368cf5b098aeb3dc8a1a2c05a3eee8a9a1a68c640edbfc79d9"
 dependencies = [
- "getrandom",
+ "getrandom 0.4.2",
  "js-sys",
  "serde_core",
  "wasm-bindgen",
@@ -1538,11 +1629,20 @@ dependencies = [
  "wit-bindgen",
 ]
 
+[[package]]
+name = "wasip3"
+version = "0.4.0+wasi-0.3.0-rc-2026-01-06"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5428f8bf88ea5ddc08faddef2ac4a67e390b88186c703ce6dbd955e1c145aca5"
+dependencies = [
+ "wit-bindgen",
+]
+
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.108"
+version = "0.2.118"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "64024a30ec1e37399cf85a7ffefebdb72205ca1c972291c51512360d90bd8566"
+checksum = "0bf938a0bacb0469e83c1e148908bd7d5a6010354cf4fb73279b7447422e3a89"
 dependencies = [
  "cfg-if 1.0.4",
  "once_cell",
@@ -1553,9 +1653,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.108"
+version = "0.2.118"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "008b239d9c740232e71bd39e8ef6429d27097518b6b30bdf9086833bd5b6d608"
+checksum = "eeff24f84126c0ec2db7a449f0c2ec963c6a49efe0698c4242929da037ca28ed"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -1563,26 +1663,60 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.108"
+version = "0.2.118"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5256bae2d58f54820e6490f9839c49780dff84c65aeab9e772f15d5f0e913a55"
+checksum = "9d08065faf983b2b80a79fd87d8254c409281cf7de75fc4b773019824196c904"
 dependencies = [
  "bumpalo",
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.108"
+version = "0.2.118"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1f01b580c9ac74c8d8f0c0e4afb04eeef2acf145458e52c03845ee9cd23e3d12"
+checksum = "5fd04d9e306f1907bd13c6361b5c6bfc7b3b3c095ed3f8a9246390f8dbdee129"
 dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "wasm-encoder"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "990065f2fe63003fe337b932cfb5e3b80e0b4d0f5ff650e6985b1048f62c8319"
+dependencies = [
+ "leb128fmt",
+ "wasmparser",
+]
+
+[[package]]
+name = "wasm-metadata"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bb0e353e6a2fbdc176932bbaab493762eb1255a7900fe0fea1a2f96c296cc909"
+dependencies = [
+ "anyhow",
+ "indexmap",
+ "wasm-encoder",
+ "wasmparser",
+]
+
+[[package]]
+name = "wasmparser"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47b807c72e1bac69382b3a6fb3dbe8ea4c0ed87ff5629b8685ae6b9a611028fe"
+dependencies = [
+ "bitflags 2.11.1",
+ "hashbrown 0.15.5",
+ "indexmap",
+ "semver",
+]
+
 [[package]]
 name = "winapi"
 version = "0.2.8"
@@ -1638,7 +1772,7 @@ checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1649,7 +1783,7 @@ checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
@@ -1694,15 +1828,6 @@ dependencies = [
  "windows-targets 0.52.6",
 ]
 
-[[package]]
-name = "windows-sys"
-version = "0.60.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f2f500e4d28234f72040990ec9d39e3a6b950f9f22d3dba18416c35882612bcb"
-dependencies = [
- "windows-targets 0.53.5",
-]
-
 [[package]]
 name = "windows-sys"
 version = "0.61.2"
@@ -1736,30 +1861,13 @@ dependencies = [
  "windows_aarch64_gnullvm 0.52.6",
  "windows_aarch64_msvc 0.52.6",
  "windows_i686_gnu 0.52.6",
- "windows_i686_gnullvm 0.52.6",
+ "windows_i686_gnullvm",
  "windows_i686_msvc 0.52.6",
  "windows_x86_64_gnu 0.52.6",
  "windows_x86_64_gnullvm 0.52.6",
  "windows_x86_64_msvc 0.52.6",
 ]
 
-[[package]]
-name = "windows-targets"
-version = "0.53.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4945f9f551b88e0d65f3db0bc25c33b8acea4d9e41163edf90dcd0b19f9069f3"
-dependencies = [
- "windows-link",
- "windows_aarch64_gnullvm 0.53.1",
- "windows_aarch64_msvc 0.53.1",
- "windows_i686_gnu 0.53.1",
- "windows_i686_gnullvm 0.53.1",
- "windows_i686_msvc 0.53.1",
- "windows_x86_64_gnu 0.53.1",
- "windows_x86_64_gnullvm 0.53.1",
- "windows_x86_64_msvc 0.53.1",
-]
-
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.48.5"
@@ -1772,12 +1880,6 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
 
-[[package]]
-name = "windows_aarch64_gnullvm"
-version = "0.53.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a9d8416fa8b42f5c947f8482c43e7d89e73a173cead56d044f6a56104a6d1b53"
-
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.48.5"
@@ -1790,12 +1892,6 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
 
-[[package]]
-name = "windows_aarch64_msvc"
-version = "0.53.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b9d782e804c2f632e395708e99a94275910eb9100b2114651e04744e9b125006"
-
 [[package]]
 name = "windows_i686_gnu"
 version = "0.48.5"
@@ -1808,24 +1904,12 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
 
-[[package]]
-name = "windows_i686_gnu"
-version = "0.53.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "960e6da069d81e09becb0ca57a65220ddff016ff2d6af6a223cf372a506593a3"
-
 [[package]]
 name = "windows_i686_gnullvm"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
 
-[[package]]
-name = "windows_i686_gnullvm"
-version = "0.53.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fa7359d10048f68ab8b09fa71c3daccfb0e9b559aed648a8f95469c27057180c"
-
 [[package]]
 name = "windows_i686_msvc"
 version = "0.48.5"
@@ -1838,12 +1922,6 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
 
-[[package]]
-name = "windows_i686_msvc"
-version = "0.53.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e7ac75179f18232fe9c285163565a57ef8d3c89254a30685b57d83a38d326c2"
-
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.48.5"
@@ -1856,12 +1934,6 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
 
-[[package]]
-name = "windows_x86_64_gnu"
-version = "0.53.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c3842cdd74a865a8066ab39c8a7a473c0778a3f29370b5fd6b4b9aa7df4a499"
-
 [[package]]
 name = "windows_x86_64_gnullvm"
 version = "0.48.5"
@@ -1874,12 +1946,6 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
 
-[[package]]
-name = "windows_x86_64_gnullvm"
-version = "0.53.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0ffa179e2d07eee8ad8f57493436566c7cc30ac536a3379fdf008f47f6bb7ae1"
-
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.48.5"
@@ -1893,16 +1959,92 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
 
 [[package]]
-name = "windows_x86_64_msvc"
-version = "0.53.1"
+name = "wit-bindgen"
+version = "0.51.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d6bbff5f0aada427a1e5a6da5f1f98158182f26556f345ac9e04d36d0ebed650"
+checksum = "d7249219f66ced02969388cf2bb044a09756a083d0fab1e566056b04d9fbcaa5"
+dependencies = [
+ "wit-bindgen-rust-macro",
+]
 
 [[package]]
-name = "wit-bindgen"
+name = "wit-bindgen-core"
 version = "0.51.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d7249219f66ced02969388cf2bb044a09756a083d0fab1e566056b04d9fbcaa5"
+checksum = "ea61de684c3ea68cb082b7a88508a8b27fcc8b797d738bfc99a82facf1d752dc"
+dependencies = [
+ "anyhow",
+ "heck",
+ "wit-parser",
+]
+
+[[package]]
+name = "wit-bindgen-rust"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b7c566e0f4b284dd6561c786d9cb0142da491f46a9fbed79ea69cdad5db17f21"
+dependencies = [
+ "anyhow",
+ "heck",
+ "indexmap",
+ "prettyplease",
+ "syn 2.0.117",
+ "wasm-metadata",
+ "wit-bindgen-core",
+ "wit-component",
+]
+
+[[package]]
+name = "wit-bindgen-rust-macro"
+version = "0.51.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0c0f9bfd77e6a48eccf51359e3ae77140a7f50b1e2ebfe62422d8afdaffab17a"
+dependencies = [
+ "anyhow",
+ "prettyplease",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.117",
+ "wit-bindgen-core",
+ "wit-bindgen-rust",
+]
+
+[[package]]
+name = "wit-component"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9d66ea20e9553b30172b5e831994e35fbde2d165325bec84fc43dbf6f4eb9cb2"
+dependencies = [
+ "anyhow",
+ "bitflags 2.11.1",
+ "indexmap",
+ "log",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "wasm-encoder",
+ "wasm-metadata",
+ "wasmparser",
+ "wit-parser",
+]
+
+[[package]]
+name = "wit-parser"
+version = "0.244.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ecc8ac4bc1dc3381b7f59c34f00b67e18f910c2c0f50015669dde7def656a736"
+dependencies = [
+ "anyhow",
+ "id-arena",
+ "indexmap",
+ "log",
+ "semver",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "unicode-xid",
+ "wasmparser",
+]
 
 [[package]]
 name = "ws2_32-sys"
@@ -1916,26 +2058,26 @@ dependencies = [
 
 [[package]]
 name = "zerocopy"
-version = "0.8.33"
+version = "0.8.48"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "668f5168d10b9ee831de31933dc111a459c97ec93225beb307aed970d1372dfd"
+checksum = "eed437bf9d6692032087e337407a86f04cd8d6a16a37199ed57949d415bd68e9"
 dependencies = [
  "zerocopy-derive",
 ]
 
 [[package]]
 name = "zerocopy-derive"
-version = "0.8.33"
+version = "0.8.48"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2c7962b26b0a8685668b671ee4b54d007a67d4eaf05fda79ac0ecf41e32270f1"
+checksum = "70e3cd084b1788766f53af483dd21f93881ff30d7320490ec3ef7526d203bad4"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.114",
+ "syn 2.0.117",
 ]
 
 [[package]]
 name = "zmij"
-version = "1.0.15"
+version = "1.0.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94f63c051f4fe3c1509da62131a678643c5b6fbdc9273b2b79d4378ebda003d2"
+checksum = "b8848ee67ecc8aedbaf3e4122217aff892639231befc6a1b58d29fff4c2cabaa"
diff --git a/booster_sdk/src/dds/node.rs b/booster_sdk/src/dds/node.rs
index 30748f4..5c27305 100644
--- a/booster_sdk/src/dds/node.rs
+++ b/booster_sdk/src/dds/node.rs
@@ -1,9 +1,12 @@
 //! DDS runtime helpers for creating publishers and subscriptions.
 
 use serde::{Serialize, de::DeserializeOwned};
+use std::net::{IpAddr, Ipv4Addr};
 use tokio::sync::mpsc;
 
-use rustdds::{DomainParticipant, DomainParticipantBuilder, Publisher, QosPolicyBuilder, Subscriber};
+use rustdds::{
+    DomainParticipant, DomainParticipantBuilder, Publisher, QosPolicyBuilder, Subscriber,
+};
 
 use crate::types::{DdsError, Result};
 
@@ -12,8 +15,7 @@ use super::topics::TopicSpec;
 #[derive(Default, Debug, Clone)]
 pub struct DdsConfig {
     pub domain_id: u16,
-    /// If set, restricts DDS discovery and traffic to the named network interfaces only
-    /// (e.g. `vec!["eth0".into()]`). When `None`, all multicast-capable interfaces are used.
+    /// Reserved for compatibility. DDS traffic is currently hardcoded to `127.0.0.1`.
     pub only_networks: Option<Vec<String>>,
 }
 
@@ -26,16 +28,8 @@ pub struct DdsNode {
 
 impl DdsNode {
     pub fn new(config: DdsConfig) -> Result<Self> {
-        let loopback = if cfg!(target_os = "macos") {
-            "lo0"
-        } else {
-            "lo"
-        };
-        let mut builder =
-            DomainParticipantBuilder::new(config.domain_id).with_only_networks(vec![loopback.into()]);
-        if let Some(networks) = config.only_networks {
-            builder = builder.with_only_networks(networks);
-        }
+        let builder = DomainParticipantBuilder::new(config.domain_id)
+            .with_only_networks([IpAddr::V4(Ipv4Addr::LOCALHOST)]);
         let participant = builder
             .build()
             .map_err(|err| DdsError::InitializationFailed(err.to_string()))?;