Gazebo‑ROS 2 Control Plugin and DDS Security: Handling Expired Credentials

Determine whether the Gazebo‑ROS 2 control plugin should automatically re‑establish ROS 2 topic connections after a node’s X.509 credentials are renewed, given that the plugin currently relies on the underlying DDS security layer which reports an authentication failure and does not trigger a reconnection.

Because the behavior depends on the DDS vendor (e.g., Fast RTPS or Cyclone DDS) and Gazebo does not expose a reconnection hook, it is unclear whether manual restart of Gazebo or ROS 2 nodes is required to restore topic exchange after credential renewal.

Does the gazebo_ros2_control plugin need to implement a DDS participant reset upon credential renewal? Should users rely on external ROS 2 nodes to restart discovery, or is a Gazebo‑side reconnection mechanism preferable? What verification steps confirm that topic exchange resumes without restarting the simulation?