  ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS
as its default communication middleware and used in safety-critical scenarios,
adding security to robots and ROS computational graphs is increasingly becoming
a concern. The present work introduces SROS2, a series of developer tools and
libraries that facilitate adding security to ROS 2 graphs. Focusing on a
usability-centric approach in SROS2, we present a methodology for securing
graphs systematically while following the DevSecOps model. We also demonstrate
the use of our security tools by presenting an application case study that
considers securing a graph using the popular Navigation2 and SLAM Toolbox
stacks applied in a TurtleBot3 robot. We analyse the current capabilities of
SROS2 and discuss the shortcomings, which provides insights for future
contributions and extensions. Ultimately, we present SROS2 as usable security
tools for ROS 2 and argue that without usability, security in robotics will be
greatly impaired.
