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What's the real consideration btw Secure ROS and SROS from their design?

Now there are 2 projects which involves security consideration for ROS, one is secure ROS ( ) and the other is SROS (, from its introduction, we know the Secure ROS employ IPSec and SROS defines different levels of security concept/policies. however, it’s really easy to make things complicated for a guy who hasn’t dug their details, so…here to pose several question as follows:

  1. Why are there two different projects for ROS security at the beginning from the design perspective? and is it possible to consolidate them into one in the future ?
  2. Does each of continue to maintain or develop in parallel if no integration or trend to lean one of them ?