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yoshi! i wanna know about it too!! |
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Hi @dhkstnrh DDS Security is configured using several security files as you state in your question. But the parameters you can configure allows for several communication models. Specifically, the Security Access Control plugin configures which DomainParticipants and Endpoints can access the secure communication by means of two security files: Governance and Permissions. One option configurable in the Governance file is to allow into the secure communication unauthenticated Participants, so a non-secure DomainParticipant would be able to communicate with a secure one. |
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Hello!
I'm a student studying ROS2.
I have two questions while studying DDS-Security.
First, DDS-Security v1.1 document states, "Secure DDS systems need to co-exist in the same network and, in some cases, interoperate with non-secure DDS systems."
How does ROS2 with DDS-Security interoperate with regular ROS2 that doesn't have DDS-Security applied? ROS2 with DDS-Security communicates between Pub/Subs based on certificates, so I don't understand how it interoperates with regular ROS2 where no certificates exist.
Secondly, is it absolutely necessary for ROS2 with DDS-Security to interoperate with ROS2 without DDS-Security? Can't they be used separately? I'm curious about real-world use cases.
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