From e3e034c9c18f88ee8ce9be30b94b3a50920be8fe Mon Sep 17 00:00:00 2001
From: ivanpauno <ivanpauno@ekumenlabs.com>
Date: Mon, 23 Sep 2019 14:46:03 -0300
Subject: [PATCH 01/23] Switch to one participant per context.

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
---
 rmw/CMakeLists.txt                            |  1 +
 rmw/include/rmw/init.h                        | 20 +------
 rmw/include/rmw/init_options.h                | 27 +--------
 rmw/include/rmw/rmw.h                         |  2 +-
 ..._security_options.h => security_options.h} | 16 +++---
 rmw/include/rmw/types.h                       | 57 ++++++++++++++++++-
 ..._security_options.c => security_options.c} | 16 +++---
 7 files changed, 74 insertions(+), 65 deletions(-)
 rename rmw/include/rmw/{node_security_options.h => security_options.h} (67%)
 rename rmw/src/{node_security_options.c => security_options.c} (67%)

diff --git a/rmw/CMakeLists.txt b/rmw/CMakeLists.txt
index 34c638ae..f1b8e07b 100644
--- a/rmw/CMakeLists.txt
+++ b/rmw/CMakeLists.txt
@@ -35,6 +35,7 @@ set(rmw_sources
   "src/node_security_options.c"
   "src/publisher_options.c"
   "src/sanity_checks.c"
+  "src/security_options.c"
   "src/subscription_options.c"
   "src/topic_endpoint_info_array.c"
   "src/topic_endpoint_info.c"
diff --git a/rmw/include/rmw/init.h b/rmw/include/rmw/init.h
index 95fa48a2..2b53c690 100644
--- a/rmw/include/rmw/init.h
+++ b/rmw/include/rmw/init.h
@@ -22,29 +22,11 @@ extern "C"
 
 #include <stdint.h>
 
-#include "rmw/init_options.h"
 #include "rmw/macros.h"
 #include "rmw/ret_types.h"
+#include "rmw/types.h"
 #include "rmw/visibility_control.h"
 
-/// Implementation defined context structure returned by rmw_init().
-/**
- * This should be defined by the rmw implementation.
- */
-typedef struct rmw_context_impl_t rmw_context_impl_t;
-
-/// Initialization context structure which is used to store init specific information.
-typedef struct RMW_PUBLIC_TYPE rmw_context_t
-{
-  /// Locally (process local) unique ID that represents this init/shutdown cycle.
-  uint64_t instance_id;
-  /// Implementation identifier, used to ensure two different implementations are not being mixed.
-  const char * implementation_identifier;
-  /// Implementation defined context information.
-  /** May be NULL if there is no implementation defined context information. */
-  rmw_context_impl_t * impl;
-} rmw_context_t;
-
 /// Return a zero initialized context structure.
 RMW_PUBLIC
 RMW_WARN_UNUSED
diff --git a/rmw/include/rmw/init_options.h b/rmw/include/rmw/init_options.h
index 8d8a64cc..994eef1c 100644
--- a/rmw/include/rmw/init_options.h
+++ b/rmw/include/rmw/init_options.h
@@ -25,34 +25,9 @@ extern "C"
 #include "rcutils/allocator.h"
 #include "rmw/macros.h"
 #include "rmw/ret_types.h"
+#include "rmw/types.h"
 #include "rmw/visibility_control.h"
 
-/// Implementation defined options structure used during rmw_init().
-/**
- * This should be defined by the rmw implementation.
- */
-typedef struct rmw_init_options_impl_t rmw_init_options_impl_t;
-
-/// Options structure used during rmw_init().
-typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
-{
-  /// Locally (process local) unique ID that represents this init/shutdown cycle.
-  /**
-   * This should be set by the caller of `rmw_init()` to a number that is
-   * unique within this process.
-   * It is designed to be used with `rcl_init()` and `rcl_get_instance_id()`.
-   */
-  uint64_t instance_id;
-  /// Implementation identifier, used to ensure two different implementations are not being mixed.
-  const char * implementation_identifier;
-  // TODO(wjwwood): replace with rmw_allocator_t when that refactor happens
-  /// Allocator used during internal allocation of init options, if needed.
-  rcutils_allocator_t allocator;
-  /// Implementation defined init options.
-  /** May be NULL if there are no implementation defined options. */
-  rmw_init_options_impl_t * impl;
-} rmw_init_options_t;
-
 /// Return a zero initialized init options structure.
 RMW_PUBLIC
 RMW_WARN_UNUSED
diff --git a/rmw/include/rmw/rmw.h b/rmw/include/rmw/rmw.h
index 2fb995f1..36826f9c 100644
--- a/rmw/include/rmw/rmw.h
+++ b/rmw/include/rmw/rmw.h
@@ -173,7 +173,7 @@ rmw_create_node(
   const char * name,
   const char * namespace_,
   size_t domain_id,
-  const rmw_node_security_options_t * security_options,
+  const rmw_security_options_t * security_options,
   bool localhost_only);
 
 /// Finalize a given node handle, reclaim the resources, and deallocate the node handle.
diff --git a/rmw/include/rmw/node_security_options.h b/rmw/include/rmw/security_options.h
similarity index 67%
rename from rmw/include/rmw/node_security_options.h
rename to rmw/include/rmw/security_options.h
index fafc5543..ae30f8ad 100644
--- a/rmw/include/rmw/node_security_options.h
+++ b/rmw/include/rmw/security_options.h
@@ -1,4 +1,4 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
+// Copyright 2017-2019 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW__NODE_SECURITY_OPTIONS_H_
-#define RMW__NODE_SECURITY_OPTIONS_H_
+#ifndef RMW__SECURITY_OPTIONS_H_
+#define RMW__SECURITY_OPTIONS_H_
 
 #ifdef __cplusplus
 extern "C"
@@ -23,15 +23,15 @@ extern "C"
 #include "rmw/types.h"
 
 RMW_PUBLIC
-rmw_node_security_options_t
-rmw_get_zero_initialized_node_security_options();
+rmw_security_options_t
+rmw_get_zero_initialized_security_options();
 
 RMW_PUBLIC
-rmw_node_security_options_t
-rmw_get_default_node_security_options();
+rmw_security_options_t
+rmw_get_default_security_options();
 
 #ifdef __cplusplus
 }
 #endif
 
-#endif  // RMW__NODE_SECURITY_OPTIONS_H_
+#endif  // RMW__SECURITY_OPTIONS_H_
diff --git a/rmw/include/rmw/types.h b/rmw/include/rmw/types.h
index cbbe5dd8..5879b684 100644
--- a/rmw/include/rmw/types.h
+++ b/rmw/include/rmw/types.h
@@ -27,7 +27,6 @@ extern "C"
 // map rcutils specific log levels to rmw speicfic type
 #include <rcutils/logging.h>
 
-#include "rmw/init.h"
 #include "rmw/loaned_message_sequence.h"
 #include "rmw/ret_types.h"
 #include "rmw/serialized_message.h"
@@ -37,6 +36,24 @@ extern "C"
 // implementation. It may need to be increased in the future.
 #define RMW_GID_STORAGE_SIZE 24
 
+/// Implementation defined context structure returned by rmw_init().
+/**
+ * This should be defined by the rmw implementation.
+ */
+typedef struct rmw_context_impl_t rmw_context_impl_t;
+
+/// Initialization context structure which is used to store init specific information.
+typedef struct RMW_PUBLIC_TYPE rmw_context_t
+{
+  /// Locally (process local) unique ID that represents this init/shutdown cycle.
+  uint64_t instance_id;
+  /// Implementation identifier, used to ensure two different implementations are not being mixed.
+  const char * implementation_identifier;
+  /// Implementation defined context information.
+  /** May be NULL if there is no implementation defined context information. */
+  rmw_context_impl_t * impl;
+} rmw_context_t;
+
 typedef struct RMW_PUBLIC_TYPE rmw_node_t
 {
   const char * implementation_identifier;
@@ -259,11 +276,45 @@ enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_t
   RMW_SECURITY_ENFORCEMENT_ENFORCE,
 };
 
-typedef struct RMW_PUBLIC_TYPE rmw_node_security_options_t
+typedef struct RMW_PUBLIC_TYPE rmw_security_options_t
 {
   enum rmw_security_enforcement_policy_t enforce_security;
   const char * security_root_path;
-} rmw_node_security_options_t;
+} rmw_security_options_t;
+
+/// Constant which indicates that the default domain id should be used.
+#define RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID SIZE_MAX
+
+/// Implementation defined options structure used during rmw_init().
+/**
+ * This should be defined by the rmw implementation.
+ */
+typedef struct rmw_init_options_impl_t rmw_init_options_impl_t;
+
+/// Options structure used during rmw_init().
+typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
+{
+  /// Locally (process local) unique ID that represents this init/shutdown cycle.
+  /**
+   * This should be set by the caller of `rmw_init()` to a number that is
+   * unique within this process.
+   * It is designed to be used with `rcl_init()` and `rcl_get_instance_id()`.
+   */
+  uint64_t instance_id;
+  /// Implementation identifier, used to ensure two different implementations are not being mixed.
+  const char * implementation_identifier;
+  /// ROS domain id
+  size_t domain_id;
+  /// Security options
+  rmw_security_options_t security_options;
+
+  // TODO(wjwwood): replace with rmw_allocator_t when that refactor happens
+  /// Allocator used during internal allocation of init options, if needed.
+  rcutils_allocator_t allocator;
+  /// Implementation defined init options.
+  /** May be NULL if there are no implementation defined options. */
+  rmw_init_options_impl_t * impl;
+} rmw_init_options_t;
 
 enum RMW_PUBLIC_TYPE rmw_qos_reliability_policy_t
 {
diff --git a/rmw/src/node_security_options.c b/rmw/src/security_options.c
similarity index 67%
rename from rmw/src/node_security_options.c
rename to rmw/src/security_options.c
index 0d7d5bc9..e13766cc 100644
--- a/rmw/src/node_security_options.c
+++ b/rmw/src/security_options.c
@@ -1,4 +1,4 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
+// Copyright 2017-2019 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rmw/node_security_options.h"
+#include "rmw/security_options.h"
 
-rmw_node_security_options_t
-rmw_get_zero_initialized_node_security_options()
+rmw_security_options_t
+rmw_get_zero_initialized_security_options()
 {
-  static rmw_node_security_options_t null_security_options = {0, NULL};
+  static rmw_security_options_t null_security_options = {0, NULL};
   return null_security_options;
 }
 
-rmw_node_security_options_t
-rmw_get_default_node_security_options()
+rmw_security_options_t
+rmw_get_default_security_options()
 {
-  static rmw_node_security_options_t default_options;
+  static rmw_security_options_t default_options;
   default_options.enforce_security = RMW_SECURITY_ENFORCEMENT_PERMISSIVE;
   default_options.security_root_path = NULL;
   return default_options;

From 2d8f8d6c9e8ab28c2483d4ffc06976c3bcf6dad6 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Tue, 26 Nov 2019 16:21:23 -0300
Subject: [PATCH 02/23] Reorganize headers. Correct get_default_init_options
 functions

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/init.h             | 20 ++++++++-
 rmw/include/rmw/init_options.h     | 35 +++++++++++++++-
 rmw/include/rmw/security_options.h | 14 ++++++-
 rmw/include/rmw/types.h            | 67 ++----------------------------
 rmw/src/init_options.c             |  2 +
 rmw/src/security_options.c         |  2 +
 6 files changed, 73 insertions(+), 67 deletions(-)

diff --git a/rmw/include/rmw/init.h b/rmw/include/rmw/init.h
index 2b53c690..95fa48a2 100644
--- a/rmw/include/rmw/init.h
+++ b/rmw/include/rmw/init.h
@@ -22,11 +22,29 @@ extern "C"
 
 #include <stdint.h>
 
+#include "rmw/init_options.h"
 #include "rmw/macros.h"
 #include "rmw/ret_types.h"
-#include "rmw/types.h"
 #include "rmw/visibility_control.h"
 
+/// Implementation defined context structure returned by rmw_init().
+/**
+ * This should be defined by the rmw implementation.
+ */
+typedef struct rmw_context_impl_t rmw_context_impl_t;
+
+/// Initialization context structure which is used to store init specific information.
+typedef struct RMW_PUBLIC_TYPE rmw_context_t
+{
+  /// Locally (process local) unique ID that represents this init/shutdown cycle.
+  uint64_t instance_id;
+  /// Implementation identifier, used to ensure two different implementations are not being mixed.
+  const char * implementation_identifier;
+  /// Implementation defined context information.
+  /** May be NULL if there is no implementation defined context information. */
+  rmw_context_impl_t * impl;
+} rmw_context_t;
+
 /// Return a zero initialized context structure.
 RMW_PUBLIC
 RMW_WARN_UNUSED
diff --git a/rmw/include/rmw/init_options.h b/rmw/include/rmw/init_options.h
index 994eef1c..e55009e1 100644
--- a/rmw/include/rmw/init_options.h
+++ b/rmw/include/rmw/init_options.h
@@ -25,9 +25,42 @@ extern "C"
 #include "rcutils/allocator.h"
 #include "rmw/macros.h"
 #include "rmw/ret_types.h"
-#include "rmw/types.h"
+#include "rmw/security_options.h"
 #include "rmw/visibility_control.h"
 
+/// Implementation defined options structure used during rmw_init().
+/**
+ * This should be defined by the rmw implementation.
+ */
+typedef struct rmw_init_options_impl_t rmw_init_options_impl_t;
+
+#define RMW_INIT_OPTIONS_DEFAULT_DOMAIN_ID SIZE_MAX
+
+/// Options structure used during rmw_init().
+typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
+{
+  /// Locally (process local) unique ID that represents this init/shutdown cycle.
+  /**
+   * This should be set by the caller of `rmw_init()` to a number that is
+   * unique within this process.
+   * It is designed to be used with `rcl_init()` and `rcl_get_instance_id()`.
+   */
+  uint64_t instance_id;
+  /// Implementation identifier, used to ensure two different implementations are not being mixed.
+  const char * implementation_identifier;
+  /// ROS domain id
+  size_t domain_id;
+  /// Security options
+  rmw_security_options_t security_options;
+
+  // TODO(wjwwood): replace with rmw_allocator_t when that refactor happens
+  /// Allocator used during internal allocation of init options, if needed.
+  rcutils_allocator_t allocator;
+  /// Implementation defined init options.
+  /** May be NULL if there are no implementation defined options. */
+  rmw_init_options_impl_t * impl;
+} rmw_init_options_t;
+
 /// Return a zero initialized init options structure.
 RMW_PUBLIC
 RMW_WARN_UNUSED
diff --git a/rmw/include/rmw/security_options.h b/rmw/include/rmw/security_options.h
index ae30f8ad..4bf5d723 100644
--- a/rmw/include/rmw/security_options.h
+++ b/rmw/include/rmw/security_options.h
@@ -20,7 +20,19 @@ extern "C"
 {
 #endif
 
-#include "rmw/types.h"
+#include "rmw/visibility_control.h"
+
+enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_t
+{
+  RMW_SECURITY_ENFORCEMENT_PERMISSIVE,
+  RMW_SECURITY_ENFORCEMENT_ENFORCE,
+};
+
+typedef struct RMW_PUBLIC_TYPE rmw_security_options_t
+{
+  enum rmw_security_enforcement_policy_t enforce_security;
+  const char * security_root_path;
+} rmw_security_options_t;
 
 RMW_PUBLIC
 rmw_security_options_t
diff --git a/rmw/include/rmw/types.h b/rmw/include/rmw/types.h
index 5879b684..e4c76e93 100644
--- a/rmw/include/rmw/types.h
+++ b/rmw/include/rmw/types.h
@@ -27,8 +27,11 @@ extern "C"
 // map rcutils specific log levels to rmw speicfic type
 #include <rcutils/logging.h>
 
+#include "rmw/init.h"
+#include "rmw/init_options.h"
 #include "rmw/loaned_message_sequence.h"
 #include "rmw/ret_types.h"
+#include "rmw/security_options.h"
 #include "rmw/serialized_message.h"
 #include "rmw/visibility_control.h"
 
@@ -36,24 +39,6 @@ extern "C"
 // implementation. It may need to be increased in the future.
 #define RMW_GID_STORAGE_SIZE 24
 
-/// Implementation defined context structure returned by rmw_init().
-/**
- * This should be defined by the rmw implementation.
- */
-typedef struct rmw_context_impl_t rmw_context_impl_t;
-
-/// Initialization context structure which is used to store init specific information.
-typedef struct RMW_PUBLIC_TYPE rmw_context_t
-{
-  /// Locally (process local) unique ID that represents this init/shutdown cycle.
-  uint64_t instance_id;
-  /// Implementation identifier, used to ensure two different implementations are not being mixed.
-  const char * implementation_identifier;
-  /// Implementation defined context information.
-  /** May be NULL if there is no implementation defined context information. */
-  rmw_context_impl_t * impl;
-} rmw_context_t;
-
 typedef struct RMW_PUBLIC_TYPE rmw_node_t
 {
   const char * implementation_identifier;
@@ -270,52 +255,6 @@ typedef struct RMW_PUBLIC_TYPE rmw_time_t
   uint64_t nsec;
 } rmw_time_t;
 
-enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_t
-{
-  RMW_SECURITY_ENFORCEMENT_PERMISSIVE,
-  RMW_SECURITY_ENFORCEMENT_ENFORCE,
-};
-
-typedef struct RMW_PUBLIC_TYPE rmw_security_options_t
-{
-  enum rmw_security_enforcement_policy_t enforce_security;
-  const char * security_root_path;
-} rmw_security_options_t;
-
-/// Constant which indicates that the default domain id should be used.
-#define RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID SIZE_MAX
-
-/// Implementation defined options structure used during rmw_init().
-/**
- * This should be defined by the rmw implementation.
- */
-typedef struct rmw_init_options_impl_t rmw_init_options_impl_t;
-
-/// Options structure used during rmw_init().
-typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
-{
-  /// Locally (process local) unique ID that represents this init/shutdown cycle.
-  /**
-   * This should be set by the caller of `rmw_init()` to a number that is
-   * unique within this process.
-   * It is designed to be used with `rcl_init()` and `rcl_get_instance_id()`.
-   */
-  uint64_t instance_id;
-  /// Implementation identifier, used to ensure two different implementations are not being mixed.
-  const char * implementation_identifier;
-  /// ROS domain id
-  size_t domain_id;
-  /// Security options
-  rmw_security_options_t security_options;
-
-  // TODO(wjwwood): replace with rmw_allocator_t when that refactor happens
-  /// Allocator used during internal allocation of init options, if needed.
-  rcutils_allocator_t allocator;
-  /// Implementation defined init options.
-  /** May be NULL if there are no implementation defined options. */
-  rmw_init_options_impl_t * impl;
-} rmw_init_options_t;
-
 enum RMW_PUBLIC_TYPE rmw_qos_reliability_policy_t
 {
   RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
diff --git a/rmw/src/init_options.c b/rmw/src/init_options.c
index de7701c2..54364d31 100644
--- a/rmw/src/init_options.c
+++ b/rmw/src/init_options.c
@@ -28,6 +28,8 @@ rmw_get_zero_initialized_init_options(void)
            .instance_id = 0,
            .implementation_identifier = NULL,
            .impl = NULL,
+           .domain_id = RMW_INIT_OPTIONS_DEFAULT_DOMAIN_ID,
+           .security_options = rmw_get_default_security_options(),
   };  // NOLINT(readability/braces): false positive
 }
 
diff --git a/rmw/src/security_options.c b/rmw/src/security_options.c
index e13766cc..0500de4c 100644
--- a/rmw/src/security_options.c
+++ b/rmw/src/security_options.c
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <stddef.h>
+
 #include "rmw/security_options.h"
 
 rmw_security_options_t

From 1a741a6dab0f779fd26b1c66859affca866ab539 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Fri, 13 Dec 2019 18:05:47 -0300
Subject: [PATCH 03/23] Addressed per review comments

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/domain_id.h        | 21 +++++++++++++++++
 rmw/include/rmw/init_options.h     |  6 +++--
 rmw/include/rmw/localhost.h        | 38 ++++++++++++++++++++++++++++++
 rmw/include/rmw/security_options.h |  4 ++--
 rmw/include/rmw/types.h            |  2 +-
 rmw/src/init_options.c             |  2 +-
 6 files changed, 67 insertions(+), 6 deletions(-)
 create mode 100644 rmw/include/rmw/domain_id.h
 create mode 100644 rmw/include/rmw/localhost.h

diff --git a/rmw/include/rmw/domain_id.h b/rmw/include/rmw/domain_id.h
new file mode 100644
index 00000000..7a5a1c0d
--- /dev/null
+++ b/rmw/include/rmw/domain_id.h
@@ -0,0 +1,21 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW__DOMAIN_ID_H_
+#define RMW__DOMAIN_ID_H_
+
+/// Default domain id.
+#define RMW_DEFAULT_DOMAIN_ID SIZE_MAX
+
+#endif  // RMW__DOMAIN_ID_H_
diff --git a/rmw/include/rmw/init_options.h b/rmw/include/rmw/init_options.h
index e55009e1..56eb851c 100644
--- a/rmw/include/rmw/init_options.h
+++ b/rmw/include/rmw/init_options.h
@@ -23,6 +23,8 @@ extern "C"
 #include <stdint.h>
 
 #include "rcutils/allocator.h"
+#include "rmw/domain_id.h"
+#include "rmw/localhost.h"
 #include "rmw/macros.h"
 #include "rmw/ret_types.h"
 #include "rmw/security_options.h"
@@ -34,8 +36,6 @@ extern "C"
  */
 typedef struct rmw_init_options_impl_t rmw_init_options_impl_t;
 
-#define RMW_INIT_OPTIONS_DEFAULT_DOMAIN_ID SIZE_MAX
-
 /// Options structure used during rmw_init().
 typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
 {
@@ -52,6 +52,8 @@ typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
   size_t domain_id;
   /// Security options
   rmw_security_options_t security_options;
+  /// Enable localhost only
+  rmw_localhost_only_t localhost_only;
 
   // TODO(wjwwood): replace with rmw_allocator_t when that refactor happens
   /// Allocator used during internal allocation of init options, if needed.
diff --git a/rmw/include/rmw/localhost.h b/rmw/include/rmw/localhost.h
new file mode 100644
index 00000000..868643fb
--- /dev/null
+++ b/rmw/include/rmw/localhost.h
@@ -0,0 +1,38 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW__LOCALHOST_H_
+#define RMW__LOCALHOST_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// Used to specify if the context can only communicate through localhost.
+typedef enum rmw_localhost_only_t
+{
+  /// Uses ROS_LOCALHOST_ONLY environment variable.
+  RMW_LOCALHOST_ONLY_DEFAULT = 0,
+  /// Forces using only localhost.
+  RMW_LOCALHOST_ONLY_ENABLED = 1,
+  /// Forces disabling localhost only.
+  RMW_LOCALHOST_ONLY_DISABLED = 2,
+} rmw_localhost_only_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__LOCALHOST_H_
diff --git a/rmw/include/rmw/security_options.h b/rmw/include/rmw/security_options.h
index 4bf5d723..ba7b2842 100644
--- a/rmw/include/rmw/security_options.h
+++ b/rmw/include/rmw/security_options.h
@@ -22,11 +22,11 @@ extern "C"
 
 #include "rmw/visibility_control.h"
 
-enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_t
+typedef enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_t
 {
   RMW_SECURITY_ENFORCEMENT_PERMISSIVE,
   RMW_SECURITY_ENFORCEMENT_ENFORCE,
-};
+} rmw_security_enforcement_policy_t;
 
 typedef struct RMW_PUBLIC_TYPE rmw_security_options_t
 {
diff --git a/rmw/include/rmw/types.h b/rmw/include/rmw/types.h
index e4c76e93..840b0cb7 100644
--- a/rmw/include/rmw/types.h
+++ b/rmw/include/rmw/types.h
@@ -37,7 +37,7 @@ extern "C"
 
 // 24 bytes is the most memory needed to represent the GID by any current
 // implementation. It may need to be increased in the future.
-#define RMW_GID_STORAGE_SIZE 24
+#define RMW_GID_STORAGE_SIZE 24u
 
 typedef struct RMW_PUBLIC_TYPE rmw_node_t
 {
diff --git a/rmw/src/init_options.c b/rmw/src/init_options.c
index 54364d31..4104772a 100644
--- a/rmw/src/init_options.c
+++ b/rmw/src/init_options.c
@@ -28,7 +28,7 @@ rmw_get_zero_initialized_init_options(void)
            .instance_id = 0,
            .implementation_identifier = NULL,
            .impl = NULL,
-           .domain_id = RMW_INIT_OPTIONS_DEFAULT_DOMAIN_ID,
+           .domain_id = RMW_DEFAULT_DOMAIN_ID,
            .security_options = rmw_get_default_security_options(),
   };  // NOLINT(readability/braces): false positive
 }

From cd1b326f33c6c0f437a9f46cfacc4870a1221868 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Wed, 18 Dec 2019 16:58:12 -0300
Subject: [PATCH 04/23] Correct rmw_get_zero_initialized_init_options

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/src/init_options.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/rmw/src/init_options.c b/rmw/src/init_options.c
index 4104772a..54ea8e8c 100644
--- a/rmw/src/init_options.c
+++ b/rmw/src/init_options.c
@@ -25,10 +25,11 @@ rmw_init_options_t
 rmw_get_zero_initialized_init_options(void)
 {
   return (const rmw_init_options_t) {
+           .domain_id = RMW_DEFAULT_DOMAIN_ID,
+           .localhost_only = false,
            .instance_id = 0,
            .implementation_identifier = NULL,
            .impl = NULL,
-           .domain_id = RMW_DEFAULT_DOMAIN_ID,
            .security_options = rmw_get_default_security_options(),
   };  // NOLINT(readability/braces): false positive
 }

From ee0b354a7ada75bbe50507f4ad7ee093dce30c67 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Wed, 22 Jan 2020 13:42:42 -0300
Subject: [PATCH 05/23] Store init options in context

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/init.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/rmw/include/rmw/init.h b/rmw/include/rmw/init.h
index 95fa48a2..c6788d4f 100644
--- a/rmw/include/rmw/init.h
+++ b/rmw/include/rmw/init.h
@@ -40,6 +40,8 @@ typedef struct RMW_PUBLIC_TYPE rmw_context_t
   uint64_t instance_id;
   /// Implementation identifier, used to ensure two different implementations are not being mixed.
   const char * implementation_identifier;
+  /// Options used to initialize the context.
+  rmw_init_options_t options;
   /// Implementation defined context information.
   /** May be NULL if there is no implementation defined context information. */
   rmw_context_impl_t * impl;

From 52c5a4c1111c8a09e13305aa2288801b38d5293f Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Wed, 22 Jan 2020 13:48:40 -0300
Subject: [PATCH 06/23] Add rmw_security_options_fini and setter for
 secure_root

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/security_options.h | 30 ++++++++++++++++++++--
 rmw/src/security_options.c         | 40 +++++++++++++++++++++++++-----
 2 files changed, 62 insertions(+), 8 deletions(-)

diff --git a/rmw/include/rmw/security_options.h b/rmw/include/rmw/security_options.h
index ba7b2842..8a094fbd 100644
--- a/rmw/include/rmw/security_options.h
+++ b/rmw/include/rmw/security_options.h
@@ -1,4 +1,4 @@
-// Copyright 2017-2019 Open Source Robotics Foundation, Inc.
+// Copyright 2020 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -20,6 +20,11 @@ extern "C"
 {
 #endif
 
+#include <stdbool.h>
+
+#include "rcutils/allocator.h"
+
+#include "rmw/ret_types.h"
 #include "rmw/visibility_control.h"
 
 typedef enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_t
@@ -31,17 +36,38 @@ typedef enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_t
 typedef struct RMW_PUBLIC_TYPE rmw_security_options_t
 {
   enum rmw_security_enforcement_policy_t enforce_security;
-  const char * security_root_path;
+  char * security_root_path;
 } rmw_security_options_t;
 
+/// Get zero initialized security options.
 RMW_PUBLIC
 rmw_security_options_t
 rmw_get_zero_initialized_security_options();
 
+/// Get default initialized security options.
 RMW_PUBLIC
 rmw_security_options_t
 rmw_get_default_security_options();
 
+/// Copy the security_root_path in the security_options using the allocator.
+/**
+ * \param security_root_path path to be copied.
+ * \param allocator allocator used to store the new string.
+ * \param security_options security options to be set.
+ */
+rmw_ret_t
+rmw_security_options_set_root_path(
+  const char * security_root_path,
+  rcutils_allocator_t * allocator,
+  rmw_security_options_t * security_options);
+
+/// Finalize the given security_options.
+RMW_PUBLIC
+rmw_ret_t
+rmw_security_options_fini(
+  rmw_security_options_t * security_options,
+  rcutils_allocator_t * allocator);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/rmw/src/security_options.c b/rmw/src/security_options.c
index 0500de4c..c68f3e92 100644
--- a/rmw/src/security_options.c
+++ b/rmw/src/security_options.c
@@ -1,4 +1,4 @@
-// Copyright 2017-2019 Open Source Robotics Foundation, Inc.
+// Copyright 2020 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -14,20 +14,48 @@
 
 #include <stddef.h>
 
+#include "rcutils/strdup.h"
+
 #include "rmw/security_options.h"
 
 rmw_security_options_t
 rmw_get_zero_initialized_security_options()
 {
-  static rmw_security_options_t null_security_options = {0, NULL};
-  return null_security_options;
+  rmw_security_options_t zero_initialized_options = {0, NULL};
+  return zero_initialized_options;
 }
 
 rmw_security_options_t
 rmw_get_default_security_options()
 {
-  static rmw_security_options_t default_options;
-  default_options.enforce_security = RMW_SECURITY_ENFORCEMENT_PERMISSIVE;
-  default_options.security_root_path = NULL;
+  rmw_security_options_t default_options = {
+    RMW_SECURITY_ENFORCEMENT_PERMISSIVE,
+    NULL};
   return default_options;
 }
+
+rmw_ret_t
+rmw_security_options_set_root_path(
+  const char * security_root_path,
+  rcutils_allocator_t * allocator,
+  rmw_security_options_t * security_options)
+{
+  security_options->security_root_path = rcutils_strdup(security_root_path, *allocator);
+  if (!security_options->security_root_path) {
+    return RMW_RET_BAD_ALLOC;
+  }
+  return RMW_RET_OK;
+}
+
+rmw_ret_t
+rmw_security_options_fini(
+  rmw_security_options_t * security_options,
+  rcutils_allocator_t * allocator)
+{
+  if (!allocator) {
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  allocator->deallocate(security_options->security_root_path, allocator->state);
+  *security_options = rmw_get_zero_initialized_security_options();
+  return RMW_RET_OK;
+}

From a90c367c005f664e070825337388b378ac0b9a48 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Fri, 24 Jan 2020 10:47:00 -0300
Subject: [PATCH 07/23] Add context name and namespace

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/init_options.h     |  4 +++
 rmw/include/rmw/security.h         | 40 ++++++++++++++++++++++++++++++
 rmw/include/rmw/security_options.h | 10 ++++++++
 rmw/src/init_options.c             |  4 ++-
 rmw/src/security_options.c         | 29 +++++++++++++++++++---
 5 files changed, 83 insertions(+), 4 deletions(-)
 create mode 100644 rmw/include/rmw/security.h

diff --git a/rmw/include/rmw/init_options.h b/rmw/include/rmw/init_options.h
index 56eb851c..39527ecc 100644
--- a/rmw/include/rmw/init_options.h
+++ b/rmw/include/rmw/init_options.h
@@ -54,6 +54,10 @@ typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
   rmw_security_options_t security_options;
   /// Enable localhost only
   rmw_localhost_only_t localhost_only;
+  /// Context name
+  char * name;
+  /// Context namespace_
+  char * namespace_;
 
   // TODO(wjwwood): replace with rmw_allocator_t when that refactor happens
   /// Allocator used during internal allocation of init options, if needed.
diff --git a/rmw/include/rmw/security.h b/rmw/include/rmw/security.h
new file mode 100644
index 00000000..9aefa0a5
--- /dev/null
+++ b/rmw/include/rmw/security.h
@@ -0,0 +1,40 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW__SECURITY_H_
+#define RMW__SECURITY_H_
+
+#include <stdbool.h>
+
+#include "rmw/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// Indicates if node or context name have to be used in security directory lookup.
+/**
+ * \returns true if node name should be used, or
+ * \returns false if context name should be used.
+ */
+RMW_PUBLIC
+bool
+rmw_use_node_name_in_security_directory_lookup();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__SECURITY_H_
diff --git a/rmw/include/rmw/security_options.h b/rmw/include/rmw/security_options.h
index 8a094fbd..279f6903 100644
--- a/rmw/include/rmw/security_options.h
+++ b/rmw/include/rmw/security_options.h
@@ -49,11 +49,21 @@ RMW_PUBLIC
 rmw_security_options_t
 rmw_get_default_security_options();
 
+/// Copy the given security options.
+RMW_PUBLIC
+rmw_ret_t
+rmw_security_options_copy(
+  const rmw_security_options_t * src,
+  const rcutils_allocator_t * allocator,
+  rmw_security_options_t * dst);
+
 /// Copy the security_root_path in the security_options using the allocator.
 /**
  * \param security_root_path path to be copied.
  * \param allocator allocator used to store the new string.
  * \param security_options security options to be set.
+ * \returns RMW_RET_BAD_ALLOC, or
+ * \returns RMW_RET_OK
  */
 rmw_ret_t
 rmw_security_options_set_root_path(
diff --git a/rmw/src/init_options.c b/rmw/src/init_options.c
index 54ea8e8c..853abc16 100644
--- a/rmw/src/init_options.c
+++ b/rmw/src/init_options.c
@@ -27,9 +27,11 @@ rmw_get_zero_initialized_init_options(void)
   return (const rmw_init_options_t) {
            .domain_id = RMW_DEFAULT_DOMAIN_ID,
            .localhost_only = false,
-           .instance_id = 0,
            .implementation_identifier = NULL,
            .impl = NULL,
+           .instance_id = 0,
+           .name = NULL,
+           .namespace_ = NULL,
            .security_options = rmw_get_default_security_options(),
   };  // NOLINT(readability/braces): false positive
 }
diff --git a/rmw/src/security_options.c b/rmw/src/security_options.c
index c68f3e92..7f59cadd 100644
--- a/rmw/src/security_options.c
+++ b/rmw/src/security_options.c
@@ -16,6 +16,7 @@
 
 #include "rcutils/strdup.h"
 
+#include "rmw/error_handling.h"
 #include "rmw/security_options.h"
 
 rmw_security_options_t
@@ -34,14 +35,37 @@ rmw_get_default_security_options()
   return default_options;
 }
 
+rmw_ret_t
+rmw_security_options_copy(
+  const rmw_security_options_t * src,
+  const rcutils_allocator_t * allocator,
+  rmw_security_options_t * dst)
+{
+  RMW_CHECK_ARGUMENT_FOR_NULL(src, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(dst, RMW_RET_INVALID_ARGUMENT);
+  *dst = *src;
+
+  dst->security_root_path = rcutils_strdup(src->security_root_path, *allocator);
+  if (src->security_root_path && !dst->security_root_path) {
+    RMW_SET_ERROR_MSG("failed to copy security root path");
+    return RMW_RET_BAD_ALLOC;
+  }
+  return RMW_RET_OK;
+}
+
 rmw_ret_t
 rmw_security_options_set_root_path(
   const char * security_root_path,
   rcutils_allocator_t * allocator,
   rmw_security_options_t * security_options)
 {
+  RMW_CHECK_ARGUMENT_FOR_NULL(security_root_path, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(security_options, RMW_RET_INVALID_ARGUMENT);
   security_options->security_root_path = rcutils_strdup(security_root_path, *allocator);
   if (!security_options->security_root_path) {
+    RMW_SET_ERROR_MSG("failed to copy security root path");
     return RMW_RET_BAD_ALLOC;
   }
   return RMW_RET_OK;
@@ -52,9 +76,8 @@ rmw_security_options_fini(
   rmw_security_options_t * security_options,
   rcutils_allocator_t * allocator)
 {
-  if (!allocator) {
-    return RMW_RET_INVALID_ARGUMENT;
-  }
+  RMW_CHECK_ARGUMENT_FOR_NULL(security_options, RMW_RET_INVALID_ARGUMENT);
+  RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
   allocator->deallocate(security_options->security_root_path, allocator->state);
   *security_options = rmw_get_zero_initialized_security_options();
   return RMW_RET_OK;

From df2fee1f3c86299019c485ed6f25ee02eb09bab9 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Tue, 28 Jan 2020 12:54:44 -0300
Subject: [PATCH 08/23] Correct rebasing error

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/CMakeLists.txt         | 2 +-
 rmw/src/security_options.c | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/rmw/CMakeLists.txt b/rmw/CMakeLists.txt
index f1b8e07b..766fe768 100644
--- a/rmw/CMakeLists.txt
+++ b/rmw/CMakeLists.txt
@@ -32,7 +32,7 @@ set(rmw_sources
   "src/init_options.c"
   "src/loaned_message_sequence.c"
   "src/names_and_types.c"
-  "src/node_security_options.c"
+  "src/security_options.c"
   "src/publisher_options.c"
   "src/sanity_checks.c"
   "src/security_options.c"
diff --git a/rmw/src/security_options.c b/rmw/src/security_options.c
index 7f59cadd..450a9ff0 100644
--- a/rmw/src/security_options.c
+++ b/rmw/src/security_options.c
@@ -31,7 +31,8 @@ rmw_get_default_security_options()
 {
   rmw_security_options_t default_options = {
     RMW_SECURITY_ENFORCEMENT_PERMISSIVE,
-    NULL};
+    NULL,
+  };
   return default_options;
 }
 

From bcffc6e36b8bc69fa7f72dc517634e9617aa91f5 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Tue, 4 Feb 2020 16:17:12 -0300
Subject: [PATCH 09/23] Use const rcutils_allocator_t *

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/security_options.h | 4 ++--
 rmw/src/security_options.c         | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/rmw/include/rmw/security_options.h b/rmw/include/rmw/security_options.h
index 279f6903..3b8885d6 100644
--- a/rmw/include/rmw/security_options.h
+++ b/rmw/include/rmw/security_options.h
@@ -68,7 +68,7 @@ rmw_security_options_copy(
 rmw_ret_t
 rmw_security_options_set_root_path(
   const char * security_root_path,
-  rcutils_allocator_t * allocator,
+  const rcutils_allocator_t * allocator,
   rmw_security_options_t * security_options);
 
 /// Finalize the given security_options.
@@ -76,7 +76,7 @@ RMW_PUBLIC
 rmw_ret_t
 rmw_security_options_fini(
   rmw_security_options_t * security_options,
-  rcutils_allocator_t * allocator);
+  const rcutils_allocator_t * allocator);
 
 #ifdef __cplusplus
 }
diff --git a/rmw/src/security_options.c b/rmw/src/security_options.c
index 450a9ff0..c8317240 100644
--- a/rmw/src/security_options.c
+++ b/rmw/src/security_options.c
@@ -58,7 +58,7 @@ rmw_security_options_copy(
 rmw_ret_t
 rmw_security_options_set_root_path(
   const char * security_root_path,
-  rcutils_allocator_t * allocator,
+  const rcutils_allocator_t * allocator,
   rmw_security_options_t * security_options)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(security_root_path, RMW_RET_INVALID_ARGUMENT);
@@ -75,7 +75,7 @@ rmw_security_options_set_root_path(
 rmw_ret_t
 rmw_security_options_fini(
   rmw_security_options_t * security_options,
-  rcutils_allocator_t * allocator)
+  const rcutils_allocator_t * allocator)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(security_options, RMW_RET_INVALID_ARGUMENT);
   RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);

From 9dbd91c0c9e248cbda3460caa1598f6badd832f0 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Tue, 4 Feb 2020 16:23:31 -0300
Subject: [PATCH 10/23] Delete duplicated source file from CMakeLists.txt

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/CMakeLists.txt | 1 -
 1 file changed, 1 deletion(-)

diff --git a/rmw/CMakeLists.txt b/rmw/CMakeLists.txt
index 766fe768..aebb6a2a 100644
--- a/rmw/CMakeLists.txt
+++ b/rmw/CMakeLists.txt
@@ -32,7 +32,6 @@ set(rmw_sources
   "src/init_options.c"
   "src/loaned_message_sequence.c"
   "src/names_and_types.c"
-  "src/security_options.c"
   "src/publisher_options.c"
   "src/sanity_checks.c"
   "src/security_options.c"

From ad17a5612cbe5dc2c23f018aff42b6bd1a16dcb8 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Tue, 4 Feb 2020 16:24:33 -0300
Subject: [PATCH 11/23] Improve documentation in security_options.h

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/security_options.h | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/rmw/include/rmw/security_options.h b/rmw/include/rmw/security_options.h
index 3b8885d6..dd3b38d6 100644
--- a/rmw/include/rmw/security_options.h
+++ b/rmw/include/rmw/security_options.h
@@ -50,6 +50,13 @@ rmw_security_options_t
 rmw_get_default_security_options();
 
 /// Copy the given security options.
+/**
+ * \param src security options to be copied.
+ * \param allocator allocator used when copying data to the new security options.
+ * \param dst security options to be set.
+ * \returns RMW_RET_BAD_ALLOC, or
+ * \returns RMW_RET_OK
+ */
 RMW_PUBLIC
 rmw_ret_t
 rmw_security_options_copy(
@@ -60,7 +67,7 @@ rmw_security_options_copy(
 /// Copy the security_root_path in the security_options using the allocator.
 /**
  * \param security_root_path path to be copied.
- * \param allocator allocator used to store the new string.
+ * \param allocator allocator used to allocate the new path.
  * \param security_options security options to be set.
  * \returns RMW_RET_BAD_ALLOC, or
  * \returns RMW_RET_OK
@@ -72,6 +79,12 @@ rmw_security_options_set_root_path(
   rmw_security_options_t * security_options);
 
 /// Finalize the given security_options.
+/**
+ * \param security_options security options to be finalized.
+ * \param allocator allocator used to deallocate the root path.
+ * \returns RMW_RET_ERROR, or
+ * \returns RMW_RET_OK
+ */
 RMW_PUBLIC
 rmw_ret_t
 rmw_security_options_fini(

From 46bff30407e23bee394029f0f9d5b0fad5e882df Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Mon, 17 Feb 2020 17:02:50 -0300
Subject: [PATCH 12/23] Modify localhost_only default value

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/src/init_options.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/rmw/src/init_options.c b/rmw/src/init_options.c
index 853abc16..87f787db 100644
--- a/rmw/src/init_options.c
+++ b/rmw/src/init_options.c
@@ -15,6 +15,7 @@
 #include <stddef.h>
 
 #include "rmw/init_options.h"
+#include "rmw/localhost.h"
 
 #ifdef __cplusplus
 extern "C"
@@ -26,7 +27,7 @@ rmw_get_zero_initialized_init_options(void)
 {
   return (const rmw_init_options_t) {
            .domain_id = RMW_DEFAULT_DOMAIN_ID,
-           .localhost_only = false,
+           .localhost_only = RMW_LOCALHOST_ONLY_DEFAULT,
            .implementation_identifier = NULL,
            .impl = NULL,
            .instance_id = 0,

From 9f10c0b972f98bd6599504cb5f1fd22b06b850bd Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Fri, 28 Feb 2020 15:10:59 -0300
Subject: [PATCH 13/23] Address peer review comments

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/security_options.h | 6 ++++--
 rmw/src/security_options.c         | 3 +++
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/rmw/include/rmw/security_options.h b/rmw/include/rmw/security_options.h
index dd3b38d6..3fb8b6d1 100644
--- a/rmw/include/rmw/security_options.h
+++ b/rmw/include/rmw/security_options.h
@@ -64,9 +64,11 @@ rmw_security_options_copy(
   const rcutils_allocator_t * allocator,
   rmw_security_options_t * dst);
 
-/// Copy the security_root_path in the security_options using the allocator.
+/// Set the security root path for the given security options.
 /**
- * \param security_root_path path to be copied.
+ * The provided `security_root_path` will be copied into allocated memory.
+ *
+ * \param security_root_path path to be set.
  * \param allocator allocator used to allocate the new path.
  * \param security_options security options to be set.
  * \returns RMW_RET_BAD_ALLOC, or
diff --git a/rmw/src/security_options.c b/rmw/src/security_options.c
index c8317240..de910182 100644
--- a/rmw/src/security_options.c
+++ b/rmw/src/security_options.c
@@ -64,6 +64,9 @@ rmw_security_options_set_root_path(
   RMW_CHECK_ARGUMENT_FOR_NULL(security_root_path, RMW_RET_INVALID_ARGUMENT);
   RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(security_options, RMW_RET_INVALID_ARGUMENT);
+  if (security_options->security_root_path) {
+    allocator->deallocate(security_options->security_root_path, allocator->state);
+  }
   security_options->security_root_path = rcutils_strdup(security_root_path, *allocator);
   if (!security_options->security_root_path) {
     RMW_SET_ERROR_MSG("failed to copy security root path");

From 73d4f1f258f1fe263136904cb55cf681c07fcdae Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Fri, 28 Feb 2020 15:13:51 -0300
Subject: [PATCH 14/23] Improve error handling in
 rmw_security_options_set_root_path

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/src/security_options.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/rmw/src/security_options.c b/rmw/src/security_options.c
index de910182..7e58328a 100644
--- a/rmw/src/security_options.c
+++ b/rmw/src/security_options.c
@@ -64,14 +64,14 @@ rmw_security_options_set_root_path(
   RMW_CHECK_ARGUMENT_FOR_NULL(security_root_path, RMW_RET_INVALID_ARGUMENT);
   RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(security_options, RMW_RET_INVALID_ARGUMENT);
-  if (security_options->security_root_path) {
-    allocator->deallocate(security_options->security_root_path, allocator->state);
-  }
+  const char * old_security_root_path = security_options->security_root_path;
   security_options->security_root_path = rcutils_strdup(security_root_path, *allocator);
   if (!security_options->security_root_path) {
+    security_options->security_root_path = old_security_root_path;
     RMW_SET_ERROR_MSG("failed to copy security root path");
     return RMW_RET_BAD_ALLOC;
   }
+  allocator->deallocate(old_security_root_path, allocator->state);
   return RMW_RET_OK;
 }
 

From 4f74f6e8c50841ff82f6fafdc4b930892cd8b3f2 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Fri, 28 Feb 2020 15:14:51 -0300
Subject: [PATCH 15/23] Delete const qualifier

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/src/security_options.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rmw/src/security_options.c b/rmw/src/security_options.c
index 7e58328a..73a54b8a 100644
--- a/rmw/src/security_options.c
+++ b/rmw/src/security_options.c
@@ -64,7 +64,7 @@ rmw_security_options_set_root_path(
   RMW_CHECK_ARGUMENT_FOR_NULL(security_root_path, RMW_RET_INVALID_ARGUMENT);
   RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(security_options, RMW_RET_INVALID_ARGUMENT);
-  const char * old_security_root_path = security_options->security_root_path;
+  char * old_security_root_path = security_options->security_root_path;
   security_options->security_root_path = rcutils_strdup(security_root_path, *allocator);
   if (!security_options->security_root_path) {
     security_options->security_root_path = old_security_root_path;

From d6a9a463aa166f6c3a78249e619bbf947f028003 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Thu, 12 Mar 2020 11:34:44 -0300
Subject: [PATCH 16/23] Latest update after discussion about supporting sros2

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/init_options.h |  2 --
 rmw/include/rmw/rmw.h          | 19 ++++++++++++++++++-
 rmw/src/init_options.c         |  1 -
 rmw/src/security_options.c     |  4 +++-
 4 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/rmw/include/rmw/init_options.h b/rmw/include/rmw/init_options.h
index 39527ecc..34d53246 100644
--- a/rmw/include/rmw/init_options.h
+++ b/rmw/include/rmw/init_options.h
@@ -56,8 +56,6 @@ typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
   rmw_localhost_only_t localhost_only;
   /// Context name
   char * name;
-  /// Context namespace_
-  char * namespace_;
 
   // TODO(wjwwood): replace with rmw_allocator_t when that refactor happens
   /// Allocator used during internal allocation of init options, if needed.
diff --git a/rmw/include/rmw/rmw.h b/rmw/include/rmw/rmw.h
index 36826f9c..36393ef3 100644
--- a/rmw/include/rmw/rmw.h
+++ b/rmw/include/rmw/rmw.h
@@ -173,7 +173,6 @@ rmw_create_node(
   const char * name,
   const char * namespace_,
   size_t domain_id,
-  const rmw_security_options_t * security_options,
   bool localhost_only);
 
 /// Finalize a given node handle, reclaim the resources, and deallocate the node handle.
@@ -1044,6 +1043,24 @@ rmw_get_node_names(
   rcutils_string_array_t * node_names,
   rcutils_string_array_t * node_namespaces);
 
+/// Return a list of node name and namespaces discovered via a node, with its context names.
+/**
+ * \sa Similar to rmw_get_node_names, but it also provides the context names of each node.
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[out] node_names a list of discovered node names
+ * \param[out] node_namespaces a list of discovered node namespaces
+ * \param[out] context_names list with the context names of the nodes
+ * \return `RMW_RET_OK` if node the query was made successfully, or
+ * \return `RMW_RET_ERROR` if an unspecified error occurs.
+ */
+rmw_ret_t
+rmw_get_node_names_with_context_names(
+  const rmw_node_t * node,
+  rcutils_string_array_t * node_names,
+  rcutils_string_array_t * node_namespaces,
+  rcutils_string_array_t * context_names);
+
 RMW_PUBLIC
 RMW_WARN_UNUSED
 rmw_ret_t
diff --git a/rmw/src/init_options.c b/rmw/src/init_options.c
index 87f787db..427d9251 100644
--- a/rmw/src/init_options.c
+++ b/rmw/src/init_options.c
@@ -32,7 +32,6 @@ rmw_get_zero_initialized_init_options(void)
            .impl = NULL,
            .instance_id = 0,
            .name = NULL,
-           .namespace_ = NULL,
            .security_options = rmw_get_default_security_options(),
   };  // NOLINT(readability/braces): false positive
 }
diff --git a/rmw/src/security_options.c b/rmw/src/security_options.c
index 73a54b8a..1182eea4 100644
--- a/rmw/src/security_options.c
+++ b/rmw/src/security_options.c
@@ -45,8 +45,10 @@ rmw_security_options_copy(
   RMW_CHECK_ARGUMENT_FOR_NULL(src, RMW_RET_INVALID_ARGUMENT);
   RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(dst, RMW_RET_INVALID_ARGUMENT);
-  *dst = *src;
 
+  allocator->deallocate(dst->security_root_path, allocator->state);
+  *dst = *src;
+  dst->security_root_path = NULL;
   dst->security_root_path = rcutils_strdup(src->security_root_path, *allocator);
   if (src->security_root_path && !dst->security_root_path) {
     RMW_SET_ERROR_MSG("failed to copy security root path");

From ea3648cebbb11311308abfc6ccd5787267f804bd Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Fri, 13 Mar 2020 15:09:48 -0300
Subject: [PATCH 17/23] Delete unused function

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/security.h | 40 --------------------------------------
 1 file changed, 40 deletions(-)
 delete mode 100644 rmw/include/rmw/security.h

diff --git a/rmw/include/rmw/security.h b/rmw/include/rmw/security.h
deleted file mode 100644
index 9aefa0a5..00000000
--- a/rmw/include/rmw/security.h
+++ /dev/null
@@ -1,40 +0,0 @@
-// Copyright 2020 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RMW__SECURITY_H_
-#define RMW__SECURITY_H_
-
-#include <stdbool.h>
-
-#include "rmw/visibility_control.h"
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-/// Indicates if node or context name have to be used in security directory lookup.
-/**
- * \returns true if node name should be used, or
- * \returns false if context name should be used.
- */
-RMW_PUBLIC
-bool
-rmw_use_node_name_in_security_directory_lookup();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // RMW__SECURITY_H_

From 27dcc254e9a078dd7361e500f071159a0b32a3ce Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Tue, 17 Mar 2020 10:53:44 -0300
Subject: [PATCH 18/23] Naming: replace context_name with security_context

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/init_options.h |  4 ++--
 rmw/include/rmw/rmw.h          | 10 +++++-----
 rmw/src/init_options.c         |  2 +-
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/rmw/include/rmw/init_options.h b/rmw/include/rmw/init_options.h
index 34d53246..06265357 100644
--- a/rmw/include/rmw/init_options.h
+++ b/rmw/include/rmw/init_options.h
@@ -54,8 +54,8 @@ typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
   rmw_security_options_t security_options;
   /// Enable localhost only
   rmw_localhost_only_t localhost_only;
-  /// Context name
-  char * name;
+  /// Security context
+  char * security_context;
 
   // TODO(wjwwood): replace with rmw_allocator_t when that refactor happens
   /// Allocator used during internal allocation of init options, if needed.
diff --git a/rmw/include/rmw/rmw.h b/rmw/include/rmw/rmw.h
index 36393ef3..e0c94b7a 100644
--- a/rmw/include/rmw/rmw.h
+++ b/rmw/include/rmw/rmw.h
@@ -1043,23 +1043,23 @@ rmw_get_node_names(
   rcutils_string_array_t * node_names,
   rcutils_string_array_t * node_namespaces);
 
-/// Return a list of node name and namespaces discovered via a node, with its context names.
+/// Return a list of node name and namespaces discovered via a node with its security context.
 /**
- * \sa Similar to rmw_get_node_names, but it also provides the context names of each node.
+ * \sa Similar to rmw_get_node_names, but it also provides the security context name.
  *
  * \param[in] node the handle to the node being used to query the ROS graph
  * \param[out] node_names a list of discovered node names
  * \param[out] node_namespaces a list of discovered node namespaces
- * \param[out] context_names list with the context names of the nodes
+ * \param[out] security_contexts list of the security context of the nodes
  * \return `RMW_RET_OK` if node the query was made successfully, or
  * \return `RMW_RET_ERROR` if an unspecified error occurs.
  */
 rmw_ret_t
-rmw_get_node_names_with_context_names(
+rmw_get_node_names_with_security_contexts(
   const rmw_node_t * node,
   rcutils_string_array_t * node_names,
   rcutils_string_array_t * node_namespaces,
-  rcutils_string_array_t * context_names);
+  rcutils_string_array_t * security_contexts);
 
 RMW_PUBLIC
 RMW_WARN_UNUSED
diff --git a/rmw/src/init_options.c b/rmw/src/init_options.c
index 427d9251..f8c2ab4a 100644
--- a/rmw/src/init_options.c
+++ b/rmw/src/init_options.c
@@ -31,7 +31,7 @@ rmw_get_zero_initialized_init_options(void)
            .implementation_identifier = NULL,
            .impl = NULL,
            .instance_id = 0,
-           .name = NULL,
+           .security_context = NULL,
            .security_options = rmw_get_default_security_options(),
   };  // NOLINT(readability/braces): false positive
 }

From 54e0a68700763c49f14d6ee24ee2f690538d6c28 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Mon, 23 Mar 2020 15:58:05 -0300
Subject: [PATCH 19/23] Fix linkage problem

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/rmw.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/rmw/include/rmw/rmw.h b/rmw/include/rmw/rmw.h
index e0c94b7a..e983f35b 100644
--- a/rmw/include/rmw/rmw.h
+++ b/rmw/include/rmw/rmw.h
@@ -1054,6 +1054,8 @@ rmw_get_node_names(
  * \return `RMW_RET_OK` if node the query was made successfully, or
  * \return `RMW_RET_ERROR` if an unspecified error occurs.
  */
+RMW_PUBLIC
+RMW_WARN_UNUSED
 rmw_ret_t
 rmw_get_node_names_with_security_contexts(
   const rmw_node_t * node,

From 49613b2863068092033032ee3e5331c6ca343bb5 Mon Sep 17 00:00:00 2001
From: Ivan S Paunovic <ivanpauno@gmail.com>
Date: Tue, 24 Mar 2020 13:46:46 +0000
Subject: [PATCH 20/23] Fix build problem on Windows

Signed-off-by: Ivan S Paunovic <ivanpauno@gmail.com>
---
 rmw/include/rmw/localhost.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/rmw/include/rmw/localhost.h b/rmw/include/rmw/localhost.h
index 868643fb..187a6f32 100644
--- a/rmw/include/rmw/localhost.h
+++ b/rmw/include/rmw/localhost.h
@@ -15,13 +15,15 @@
 #ifndef RMW__LOCALHOST_H_
 #define RMW__LOCALHOST_H_
 
+#include "rmw/visibility_control.h"
+
 #ifdef __cplusplus
 extern "C"
 {
 #endif
 
 /// Used to specify if the context can only communicate through localhost.
-typedef enum rmw_localhost_only_t
+typedef enum RMW_PUBLIC_TYPE rmw_localhost_only_t
 {
   /// Uses ROS_LOCALHOST_ONLY environment variable.
   RMW_LOCALHOST_ONLY_DEFAULT = 0,

From 3a2b9ef986f27343b912956a86b62a555c007fb9 Mon Sep 17 00:00:00 2001
From: Ivan S Paunovic <ivanpauno@gmail.com>
Date: Tue, 24 Mar 2020 14:34:48 +0000
Subject: [PATCH 21/23] More windows build errors

Signed-off-by: Ivan S Paunovic <ivanpauno@gmail.com>
---
 rmw/include/rmw/types.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rmw/include/rmw/types.h b/rmw/include/rmw/types.h
index 840b0cb7..8948cbb8 100644
--- a/rmw/include/rmw/types.h
+++ b/rmw/include/rmw/types.h
@@ -48,7 +48,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_node_t
   rmw_context_t * context;
 } rmw_node_t;
 
-typedef enum RMW_PUBLIC_TYPE
+typedef enum RMW_PUBLIC_TYPE rmw_endpoint_type_t
 {
   RMW_ENDPOINT_INVALID = 0,
   RMW_ENDPOINT_PUBLISHER,

From 474732022d4719b6ffefd59619f1231a07bcdd49 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Thu, 26 Mar 2020 11:51:04 -0300
Subject: [PATCH 22/23] Address peer review comments

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/rmw.h      |  2 +-
 rmw/src/security_options.c | 19 +++++++++----------
 2 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/rmw/include/rmw/rmw.h b/rmw/include/rmw/rmw.h
index e983f35b..979c070c 100644
--- a/rmw/include/rmw/rmw.h
+++ b/rmw/include/rmw/rmw.h
@@ -1050,7 +1050,7 @@ rmw_get_node_names(
  * \param[in] node the handle to the node being used to query the ROS graph
  * \param[out] node_names a list of discovered node names
  * \param[out] node_namespaces a list of discovered node namespaces
- * \param[out] security_contexts list of the security context of the nodes
+ * \param[out] security_contexts list of discovered nodes' security context names
  * \return `RMW_RET_OK` if node the query was made successfully, or
  * \return `RMW_RET_ERROR` if an unspecified error occurs.
  */
diff --git a/rmw/src/security_options.c b/rmw/src/security_options.c
index 1182eea4..ff69620a 100644
--- a/rmw/src/security_options.c
+++ b/rmw/src/security_options.c
@@ -46,14 +46,14 @@ rmw_security_options_copy(
   RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(dst, RMW_RET_INVALID_ARGUMENT);
 
-  allocator->deallocate(dst->security_root_path, allocator->state);
-  *dst = *src;
-  dst->security_root_path = NULL;
-  dst->security_root_path = rcutils_strdup(src->security_root_path, *allocator);
-  if (src->security_root_path && !dst->security_root_path) {
+  char * new_root_path = rcutils_strdup(src->security_root_path, *allocator);
+  if (src->security_root_path && !new_root_path) {
     RMW_SET_ERROR_MSG("failed to copy security root path");
     return RMW_RET_BAD_ALLOC;
   }
+  allocator->deallocate(dst->security_root_path, allocator->state);
+  dst->security_root_path = new_root_path;
+  dst->enforce_security = src->enforce_security;
   return RMW_RET_OK;
 }
 
@@ -66,14 +66,13 @@ rmw_security_options_set_root_path(
   RMW_CHECK_ARGUMENT_FOR_NULL(security_root_path, RMW_RET_INVALID_ARGUMENT);
   RCUTILS_CHECK_ALLOCATOR(allocator, return RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(security_options, RMW_RET_INVALID_ARGUMENT);
-  char * old_security_root_path = security_options->security_root_path;
-  security_options->security_root_path = rcutils_strdup(security_root_path, *allocator);
-  if (!security_options->security_root_path) {
-    security_options->security_root_path = old_security_root_path;
+  char * new_root_path = rcutils_strdup(security_root_path, *allocator);
+  if (!new_root_path) {
     RMW_SET_ERROR_MSG("failed to copy security root path");
     return RMW_RET_BAD_ALLOC;
   }
-  allocator->deallocate(old_security_root_path, allocator->state);
+  allocator->deallocate(security_options->security_root_path, allocator->state);
+  security_options->security_root_path = new_root_path;
   return RMW_RET_OK;
 }
 

From cbb5fc008f4304a62cf070663e3174c9f7970f9f Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Mon, 30 Mar 2020 09:18:09 -0300
Subject: [PATCH 23/23] Address peer review comment

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rmw/include/rmw/rmw.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rmw/include/rmw/rmw.h b/rmw/include/rmw/rmw.h
index 979c070c..f29e6e1a 100644
--- a/rmw/include/rmw/rmw.h
+++ b/rmw/include/rmw/rmw.h
@@ -1045,7 +1045,7 @@ rmw_get_node_names(
 
 /// Return a list of node name and namespaces discovered via a node with its security context.
 /**
- * \sa Similar to rmw_get_node_names, but it also provides the security context name.
+ * Similar to \ref rmw_get_node_names, but it also provides the security context name.
  *
  * \param[in] node the handle to the node being used to query the ROS graph
  * \param[out] node_names a list of discovered node names