Working with RMW CycloneDDS and SROS2

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I've been trying to find information on combining SROS2 with CycloneDDS.

I have a full benchmark package with which I test different configurations (RMW, Security, QoS settings, etc.). For the combination where I set the folowing environment variables:

RMW_IMPLEMENTATION=rmw_cyclonedds_cpp 
ROS_SECURITY_ENABLE=true 
ROS_SECURITY_STRATEGY=Enforce

I get the folowing error message:

1602077428.219743 [23]  benchmark: Could not load Authentication library: dds_security_auth: cannot open shared object file: No such file or directory
1602077428.219749 [23]  benchmark: Could not load Authentication plugin.
1602077428.219751 [23]  benchmark: Could not load security
[ERROR] [1602077428.220364595] [rmw_cyclonedds_cpp]: rmw_create_node: failed to create DDS participant

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

  'error not set, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/node.c:276'

with this new error message:

  'rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/node.c:428'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
[ERROR] [1602077428.220430161] [rcl]: Failed to fini publisher for node: 1
terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
  what():  failed to initialize rcl node: rcl node's rmw handle is invalid, at /tmp/binarydeb/ros-foxy-rcl-1.1.7/src/rcl/node.c:428

I can't seem to find information if this is supposed to work with the current versions. I don't have any problem for fastdds with and without security and for cyclone without security.

Package versions:

ROS2: Foxy
ros-foxy-rmw-cyclonedds-cpp: 0.7.3-1focal.20200911.211813

Following the tutorial on https://github.com/ros2/sros2/blob/fo... results in the same error.