To give a small update on this topic: we implemented a small application in ROS2 that can be found in
https://github.com/ros2-for-arm/example. This application is using TrustZone support with Optee-OS to encrypt and decrypt ROS2 messages from the application level.
As of now, this is not using the ARM DDS SecureLib (as this is still under development) but it gives a small example on how to use TrustZone+Optee-OS to secure messages by having security assets in a secure memory.
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