Thank you for your sharing, @codebot could you please share me more details regarding the following points:
for example, where to find the detail to learn more technical detail 
As for SROS2, now it’s merged into the ROS2 mainline, does this mean that the mainline is always enough to use the ROS2 security features from the current to the future ? or the further development will continue on SROS2 when necessary but merge the work on SROS2 into the mainline at a certain ROS2 release milestone? thank you !