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Added Zenoh secutiry configuration package #411

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@ahcorde ahcorde commented Jan 10, 2025

@yadu and I chatted offline about having a tool to generate zenoh security configuration files. This is based on this other package https://github.com/osrf/nexus/tree/main/nexus_network_configuration

For the router is required to generate a config file and then setup the environment variable ZENOH_ROUTER_CONFIG_URI.

But for the nodes we can use two different paths:

  • Generate config files as well and the setup ZENOH_SESSION_CONFIG_URI
  • use --ros-args --enclave which requires to include some modification in the code to read and setup the Zenoh Config data structure from the code.
ros2 run zenoh_security_configuration zenoh_security_configuration -o zenoh_config -p tls

This command should generate a file in zenoh_config/router.json5. For now it's only setting up the protocols

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
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