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Showing content from https://docs.aws.amazon.com/iot/latest/developerguide/connect-and-pub.html below:

Connect and publish policy examples

For devices registered as things in the AWS IoT Core registry, the following policy grants permission to connect to AWS IoT Core with a client ID that matches the thing name and restricts the device to publishing on a client-ID or thing name-specific MQTT topic. For a connection to be successful, the thing name must be registered in the AWS IoT Core registry and be authenticated using an identity or principal attached to the thing:

JSON

{
  "Version": "2012-10-17",
  "Statement": [
    {
      "Effect": "Allow",
      "Action": [
        "iot:Publish"
      ],
      "Resource": [
        "arn:aws:iot:us-east-1:123456789012:topic/${iot:Connection.Thing.ThingName}"
      ]
    },
    {
      "Effect": "Allow",
      "Action": [
        "iot:Connect"
      ],
      "Resource": [
        "arn:aws:iot:us-east-1:123456789012:client/${iot:Connection.Thing.ThingName}"
      ]
    }
  ]
}

For devices not registered as things in the AWS IoT Core registry, the following policy grants permission to connect to AWS IoT Core with client ID client1 and restricts the device to publishing on a clientID-specific MQTT topic:

JSON

{
    "Version": "2012-10-17",
    "Statement": [
      {
        "Effect": "Allow",
        "Action":["iot:Publish"],
        "Resource": ["arn:aws:iot:us-east-1:123456789012:topic/${iot:ClientId}"]
      },
      {
        "Effect": "Allow",
        "Action": "iot:Connect",
        "Resource": "arn:aws:iot:us-east-1:123456789012:client/client1"
      }
    ]
}

Publish/Subscribe policy examples

Retained message policy examples

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