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fiware - “AZF domain not created for application” AuthZforce

I have an application that uses the KeyRock, PEP, PDP(AuthZForce).

The security level 1 (authentication) with Keyrock and PEP are working, but when we try to use AuthZForce to check the authorization, I get the error message:

AZF domain not created for application

I have my user and my application that I created following the steps on the Fiware IdM User and Programmers Guide.

I am also able to create domains as stated in the AuthZForce - Installation and Administration Guide but I don't know how to bind the Domain ID with user roles when creating them.

So, how can I insert users/organizations/applications under a specific domain, and then have the security level 2?

My config.js file:

config.azf = {
    enabled: true,
    host: '192.168.99.100',
    port: 8080,
    path: '/authzforce/domains/',
    custom_policy: undefined  
};

And my docker-compose.yml file is:

authzforce:
    image: fiware/authzforce-ce-server:release-5.4.1
    hostname: authzforce
    container_name: authzforce
    ports:
      - "8080:8080"

keyrock:
    image: fiware/idm:v5.4.0
    hostname: keyrock
    container_name: keyrock 
    ports:
        - "5000:5000"
        - "8000:8000" 

pepproxy:
    build: Docker/fiware-pep-proxy
    hostname: pepproxy
    container_name: pepproxy
    ports:
        - 80:80
    links:
        - authzforce
        - keyrock 

This question is the same that AuthZForce Security Level 2: Basic Authorization error "AZF domain not created for application", but I get the same error, and my keyrock version is v5.4.0.

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