@Fierozen I am not familiar with Open DDS but suggest you take a look at Fast-RTPS by eProsima. Their code is Apache 2 License as well so using it for your application my be applicable.
At the moment they support encryption and authentication.
If you are keen to stay with Open DDS then the OMG group that is responsible for the DDS specification has a specification for the security plug-in as well that you could implement.
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