ros2 dashing security with ros1-bridge
I'm trying to set up a demonstration of the capabilities of the DDS-secure profile in ros2.
I have a (fairly extensive) pre-existing ros1 codebase that I will use to generate inputs and display outputs. I'd like to move one (set of) nodes over to ros2, and connect them with a few selected topics. I'd like to show that an input spoofing/attacker node publishing the same topic throws the simulation off with ROS_SECURITY_ENABLE=false, but with ROS_SECURITY_ENABLE=true (and keys setup etc), the ros2 node correctly rejects the unauthorized input stream.
So I'm wondering how ros2 security works with the (unsecure) ros1-bridge. Of course, pointers to websites/forums that I haven't found are welcome.