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Repositories that require authentication/authorization have inconsistent support with the ROS tooling. I know bloom can use your environment's ssh credentials to fetch private repositories via HTTPS or SSH. Some work was done in https://github.com/ros-infrastructure/ros_buildfarm/pull/453 to look at using environment variables for HTTPS authentication but I don't believe that covers your case.

Adding additional host keys to the deployment configuration won't be a complete solution since some jobs, like the rosdistro_cache jobs, perform git / vcs operations within a container which won't have access to the hosts ssh configuration or agent keychain. I don't even think that adding the credential directly to Jenkins will be sufficient to pass it through to the rosdistro cache job.

I'm not sure if the operators of private buildfarms have a solution for this or if they make their repositories accessible without authentication via an intranet.