Security Helper

Add authentication, cryptography, and access control security keys using a cmake macro. The macro will generate the secure root directory if it does not exists, then create authentication and cryptography keys.

In package.xml add:
<depend>sros2_cmake</depend>
In CMakeLists add:
find_package(sros2_cmake REQUIRED)
sros2_generate_artifacts(ENCLAVES <enclave_name>)

Macro definition:

    # sros2_generate_artifacts(ENCLAVES <enclave_1> <enclave_2>...<enclave_n>)

    # ENCLAVES (macro multi-arg) takes the enclaves names for which keys will be generated
    #   Executables can use a different or the same enclaves.
    #   All nodes in the same process use the same enclave.
    # SECURITY (cmake arg) if not define or OFF, will not generate key/keystores
    # ROS_SECURITY_KEYSTORE (env variable) the location of the keystore
    # POLICY_FILE (cmake arg) if defined, will generate security artifacts for each enclave defined in the policy file.

Changelog for package sros2_cmake

0.16.1 (2025-07-01)

• Update CMakeLists.txt (#344)
• Contributors: mosfet80

0.16.0 (2025-04-25)

0.15.2 (2025-04-25)

0.15.1 (2024-07-29)

0.15.0 (2024-06-17)

0.14.0 (2024-04-29)

0.13.0 (2024-02-07)

0.12.1 (2023-05-19)

0.12.0 (2023-04-28)

0.11.2 (2023-04-11)

0.11.1 (2022-09-13)

0.11.0 (2022-05-04)

0.10.4 (2022-04-08)

0.10.3 (2022-01-13)

• Fix variables in sros2_cmake (#274)
• Contributors: Keisuke Shima

0.10.2 (2021-04-12)

0.10.1 (2020-11-08)

0.10.0 (2020-11-03)

0.9.2 (2020-06-06)

0.9.1 (2020-05-11)

0.9.0 (2020-05-06)

• Rename keystore root env from ROS_SECURITY_ROOT_DIRECTORY to ROS_SECURITY_KEYSTORE (#200)
• Security enclaves:
  • security-context -> enclave (#198)
  • Update sros2_cmake to use security contexts (#177)
• Update maintainer to point to ros-security mailing list + fix package.xml (#179)
• Contributors: Ivan Santiago Paunovic, Mikael Arguedas, Ruffin

0.8.1 (2019-11-13)

0.8.0 (2019-09-26)

• Fix author, maintainer information in sros2_cmake/package.xml (#156)
• Display sros2 invocation console output (#150)
• Contributors: AAlon, Mikael Arguedas

0.7.0 (2019-05-08)

• make sros2_cmake use generate_artifacts command (#108)
• default keystore in install space insted of build space (#103)
• make sros2_cmake an ament package (#101)
• remove unnecessary build dependencies (#100)
• linter invocation fixup (#95)
• command needs to be a list and not a string (#96)
• Add CMake lint test to sros2_cmake (#90)
• fix status print to match commands invoked
• Contributors: Jacob Perron, Mikael Arguedas

0.6.2 (2019-02-08)

• Create package for sros2 cmake macros. (#75)
• Contributors: Ross Desmond

0.6.1 (2019-01-15)

0.6.0 (2018-12-07)

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