Added zenoh_security_configuration_tools package written in cpp

[ahcorde]

Replace #411 and #480

Generate zenoh config file using policy.xml

1 ) Launch zenohd

ros2 run rmw_zenoh_cpp rmw_zenohd

2 ) Launch the listener

export RMW_IMPLEMENTATION=rmw_zenoh_cpp
ros2 run demo_nodes_cpp listener

3 ) Launch the talker

export RMW_IMPLEMENTATION=rmw_zenoh_cpp
ros2 run demo_nodes_cpp talker

Now run the policy generator

ros2 security generate_policy policy_listener_talker.xml

Finally run the script:

ros2 run zenoh_security_configuration_tools zenoh_security_configuration_tools --policy policy_service.xml --config <path to default session config>/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

Try access control

1. Run the talker with the new config file

export ZENOH_SESSION_CONFIG_URI=talker.json5
ros2 run demo_nodes_cpp talker
[INFO] [1740601932.350808475] [talker]: Publishing: 'Hello World: 1'
[INFO] [1740601933.350487483] [talker]: Publishing: 'Hello World: 2'

2. Run the listener with the new config file

export ZENOH_SESSION_CONFIG_URI=listener.json5
ros2 run demo_nodes_cpp listener
...
[INFO] [1740602312.492840958] [listener]: I heard: [Hello World: 1]
[INFO] [1740602313.492200366] [listener]: I heard: [Hello World: 2]

You can check that everything is fine remapping the topic name (this should not work):

ros2 run demo_nodes_cpp talker --ros-args -r chatter:=new_topic

ros2 run demo_nodes_cpp listener --ros-args -r chatter:=new_topic
...
# listener should not receive anything

policy files

Just in case you want to try this tools here you can find some examples

policy_talker_listerner.xml

```xml ~/describe_parameters ~/get_parameter_types ~/get_parameters ~/get_type_description ~/list_parameters ~/set_parameters ~/set_parameters_atomically chatter parameter_events parameter_events rosout ~/describe_parameters ~/get_parameter_types ~/get_parameters ~/get_type_description ~/list_parameters ~/set_parameters ~/set_parameters_atomically parameter_events chatter parameter_events rosout ```

ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_cpp listener

Policy_service.xml

```xml ~/describe_parameters ~/get_parameter_types ~/get_parameters ~/get_type_description ~/list_parameters ~/set_parameters ~/set_parameters_atomically add_two_ints parameter_events parameter_events rosout add_two_ints ~/describe_parameters ~/get_parameter_types ~/get_parameters ~/get_type_description ~/list_parameters ~/set_parameters ~/set_parameters_atomically parameter_events parameter_events rosout ```

ros2 run demo_nodes_cpp add_two_ints_client
ros2 run demo_nodes_cpp add_two_ints_server

policy_action.xml

```xml ~/describe_parameters ~/get_parameter_types ~/get_parameters ~/get_type_description ~/list_parameters ~/set_parameters ~/set_parameters_atomically /fibonacci/_action/cancel_goal /fibonacci/_action/get_result /fibonacci/_action/send_goal /fibonacci/_action/feedback /fibonacci/_action/status parameter_events parameter_events rosout /fibonacci/_action/cancel_goal /fibonacci/_action/get_result /fibonacci/_action/send_goal ~/describe_parameters ~/get_parameter_types ~/get_parameters ~/get_type_description ~/list_parameters ~/set_parameters ~/set_parameters_atomically parameter_events /fibonacci/_action/feedback /fibonacci/_action/status parameter_events rosout ```

ros2 run action_tutorials_cpp fibonacci_action_client
ros2 run action_tutorials_cpp fibonacci_action_server

[cgeller]

Thanks for this valuable feature! I successfully tested the setup above.

However, in my usecase it would be easier to set all access control settings in the ROUTER_CONFIG instead of SESSION_CONFIGS. Would it be possible, to extend the config generator in a way, that it generates a central ROUTER_CONFIG? I attached a minimal config for the example above ..
ROUTER_CONFIG.json

[Yadunund]

Changes from here were merged as part of #595.