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Added zenoh security documention #4977

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Added zenoh security documention #4977

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55 changes: 55 additions & 0 deletions source/Tutorials/Advanced/Security/Introducing-ros2-security.rst
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Expand Up @@ -181,6 +181,36 @@ This command uses the ``create_enclave`` feature which is covered in more detail

Then re-run the commands above.

If the selected rmw is Zenoh, then the Zenoh router requires it own keys and certificates too:

.. tabs::

.. group-tab:: Linux

.. code-block:: bash

ros2 security create_enclave demo_keystore /zenohd

.. group-tab:: MacOS

.. code-block:: bash

ros2 security create_enclave demo_keystore /zenohd

.. group-tab:: Windows

.. code-block:: bat

ros2 security create_enclave demo_keystore /zenohd


If ``unable to write 'random state'`` appears then set the environment variable ``RANDFILE``.

.. code-block:: bat

set RANDFILE=C:\dev\ros2\sros2_demo\.rnd

Then re-run the commands above.

4\. Configure environment variables
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Expand Down Expand Up @@ -234,6 +264,31 @@ The environment variables in this terminal must be properly set as described in

ros2 run demo_nodes_py listener --ros-args --enclave /talker_listener/listener

If the rmw is Zenoh, in another terminal:

.. tabs::

.. group-tab:: Linux

.. code-block:: bash

export ZENOH_ROUTER_CONFIG_URI=<path to route config with keys and certificates>
ros2 run rmw_zenoh_cpp zenohd

.. group-tab:: MacOS

.. code-block:: bash

export ZENOH_ROUTER_CONFIG_URI=<path to route config with keys and certificates>
ros2 run rmw_zenoh_cpp zenohd

.. group-tab:: Windows

.. code-block:: bat

set ZENOH_ROUTER_CONFIG_URI=<path to route config with keys and certificates>
ros2 run rmw_zenoh_cpp zenohd

These nodes will be communicating using authentication and encryption!
If you look at the packet contents (for example, using ``tcpdump`` or ``Wireshark`` as covered in another tutorial), you can see that the messages are encrypted.

Expand Down